2021-01-27T22:34:04.936Z,1611786844.936 [CommandLine](IMPORTANT): got command restart logs
2021-01-27T22:37:01.599Z,1611787021.599 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T223701
2021-01-27T22:37:05.630Z,1611787025.630 [DataOverHttps](INFO): Received command:configSet LineCapture.navigationGain 4 none persist
2021-01-27T22:37:05.889Z,1611787025.889 [CommandLine](IMPORTANT): got command configSet LineCapture.navigationGain 4.000000 none persist
2021-01-27T22:37:46.476Z,1611787066.476 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-01-27T22:37:46.476Z,1611787066.476 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-27T22:37:46.476Z,1611787066.476 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T22:37:46.476Z,1611787066.476 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-01-27T22:37:46.891Z,1611787066.891 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-01-27T22:37:46.891Z,1611787066.891 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-01-27T22:37:47.274Z,1611787067.274 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 26.493016 min 
2021-01-27T22:37:47.274Z,1611787067.274 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-01-27T22:37:47.274Z,1611787067.274 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T22:37:47.274Z,1611787067.274 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-27T22:37:47.275Z,1611787067.275 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T22:37:47.275Z,1611787067.275 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-01-27T22:37:47.275Z,1611787067.275 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-01-27T22:37:47.275Z,1611787067.275 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T22:37:47.275Z,1611787067.275 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-27T22:37:49.313Z,1611787069.313 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223749.00,A,4133.13218,N,07042.61519,W,2.099,341.19,270121,,,A*79
2021-01-27T22:37:49.315Z,1611787069.315 [NAL9602](INFO): GPS fix at 20210127T223749: (41.552203, -70.710253)
2021-01-27T22:37:49.326Z,1611787069.326 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-27T22:37:49.326Z,1611787069.326 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-27T22:37:52.819Z,1611787072.819 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T212138/Courier0027.lzma
2021-01-27T22:37:53.822Z,1611787073.822 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Courier0027.lzma.bak
2021-01-27T22:37:53.822Z,1611787073.822 [DataOverHttps](INFO): SBD MOMSN=69721
2021-01-27T22:38:02.860Z,1611787082.860 [DataOverHttps](INFO): Sending 261 bytes from file Logs/20210127T223404/Courier0000.lzma
2021-01-27T22:38:03.862Z,1611787083.862 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0000.lzma.bak
2021-01-27T22:38:03.862Z,1611787083.862 [DataOverHttps](INFO): SBD MOMSN=69723
2021-01-27T22:38:12.899Z,1611787092.899 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20210127T212138/Express0028.lzma
2021-01-27T22:38:13.901Z,1611787093.901 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0028.lzma.bak
2021-01-27T22:38:13.902Z,1611787093.902 [DataOverHttps](INFO): SBD MOMSN=69727
2021-01-27T22:38:18.810Z,1611787098.810 [NAL9602](INFO): SBD MO Status=2, MOMSN=13169, MT Status=2, MTMSN=0
2021-01-27T22:38:18.810Z,1611787098.810 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-01-27T22:38:22.940Z,1611787102.940 [DataOverHttps](INFO): Sending 440 bytes from file Logs/20210127T223404/Express0001.lzma
2021-01-27T22:38:24.188Z,1611787104.188 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0001.lzma.bak
2021-01-27T22:38:24.188Z,1611787104.188 [DataOverHttps](INFO): SBD MOMSN=69730
2021-01-27T22:38:25.249Z,1611787105.249 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-27T22:38:25.249Z,1611787105.249 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-27T22:38:25.249Z,1611787105.249 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-27T22:38:42.597Z,1611787122.597 [NAL9602](INFO): SBD MO Status=0, MOMSN=13169, MT Status=0, MTMSN=0
2021-01-27T22:38:42.598Z,1611787122.598 [NAL9602](INFO): No messages in MT queue
2021-01-27T22:39:13.298Z,1611787153.298 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T22:43:25.855Z,1611787405.855 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-01-27T22:43:25.855Z,1611787405.855 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-27T22:43:25.855Z,1611787405.855 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T22:43:25.856Z,1611787405.856 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-01-27T22:43:26.245Z,1611787406.245 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-01-27T22:43:26.245Z,1611787406.245 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-01-27T22:43:26.690Z,1611787406.690 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 32.148916 min 
2021-01-27T22:43:26.690Z,1611787406.690 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-01-27T22:43:26.691Z,1611787406.691 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T22:43:26.691Z,1611787406.691 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-27T22:43:26.691Z,1611787406.691 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T22:43:26.692Z,1611787406.692 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #6
2021-01-27T22:43:26.692Z,1611787406.692 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=6
2021-01-27T22:43:26.693Z,1611787406.693 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T22:43:26.693Z,1611787406.693 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-27T22:43:28.664Z,1611787408.664 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224328.00,A,4133.11693,N,07042.63515,W,0.039,232.81,270121,,,A*7A
2021-01-27T22:43:28.666Z,1611787408.666 [NAL9602](INFO): GPS fix at 20210127T224328: (41.551949, -70.710586)
2021-01-27T22:43:28.750Z,1611787408.750 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-27T22:43:28.750Z,1611787408.750 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-27T22:43:32.248Z,1611787412.248 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20210127T223404/Courier0003.lzma
2021-01-27T22:43:33.250Z,1611787413.250 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0003.lzma.bak
2021-01-27T22:43:33.250Z,1611787413.250 [DataOverHttps](INFO): SBD MOMSN=69737
2021-01-27T22:43:42.288Z,1611787422.288 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210127T223404/Express0005.lzma
2021-01-27T22:43:43.294Z,1611787423.294 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0005.lzma.bak
2021-01-27T22:43:43.294Z,1611787423.294 [DataOverHttps](INFO): SBD MOMSN=69740
2021-01-27T22:43:44.847Z,1611787424.847 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-27T22:43:44.847Z,1611787424.847 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-27T22:43:44.847Z,1611787424.847 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-27T22:43:47.682Z,1611787427.682 [NAL9602](INFO): SBD MO Status=0, MOMSN=13170, MT Status=0, MTMSN=0
2021-01-27T22:43:47.682Z,1611787427.682 [NAL9602](INFO): No messages in MT queue
2021-01-27T22:44:14.750Z,1611787454.750 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:44:18.382Z,1611787458.382 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T22:45:19.808Z,1611787519.808 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:46:09.898Z,1611787569.898 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T224609
2021-01-27T22:46:13.916Z,1611787573.916 [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" 2tr8i 1 2
2021-01-27T22:46:13.930Z,1611787573.930 [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" 2tr8i 1 2.000000
2021-01-27T22:46:13.930Z,1611787573.930 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2tr8i
2021-01-27T22:46:13.931Z,1611787573.931 [CommandLine](IMPORTANT): Scheduled #3 (#1 of 2 with id='2tr8i'): "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
2021-01-27T22:46:14.917Z,1611787574.917 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T224614
2021-01-27T22:46:18.936Z,1611787578.936 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2tr8i 2 2
2021-01-27T22:46:18.945Z,1611787578.945 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2tr8i 2 2.000000
2021-01-27T22:46:18.946Z,1611787578.946 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2tr8i
2021-01-27T22:46:18.947Z,1611787578.947 [CommandLine](IMPORTANT): Scheduled #4 (#2 of 2 with id='2tr8i'): "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP
2021-01-27T22:46:19.029Z,1611787579.029 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-01-27T22:46:19.030Z,1611787579.030 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-01-27T22:46:19.102Z,1611787579.102 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-01-27T22:46:19.104Z,1611787579.104 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-01-27T22:46:19.106Z,1611787579.106 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-01-27T22:46:19.109Z,1611787579.109 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-01-27T22:46:19.111Z,1611787579.111 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-01-27T22:46:19.113Z,1611787579.113 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-01-27T22:46:19.115Z,1611787579.115 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-01-27T22:46:19.138Z,1611787579.138 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-01-27T22:46:19.141Z,1611787579.141 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-01-27T22:46:19.143Z,1611787579.143 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-01-27T22:46:19.154Z,1611787579.154 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-01-27T22:46:19.161Z,1611787579.161 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-01-27T22:46:19.161Z,1611787579.161 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-01-27T22:46:19.390Z,1611787579.390 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-01-27T22:46:19.393Z,1611787579.393 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-01-27T22:46:19.394Z,1611787579.394 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-01-27T22:46:19.396Z,1611787579.396 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-01-27T22:46:19.398Z,1611787579.398 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-01-27T22:46:19.401Z,1611787579.401 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-01-27T22:46:19.404Z,1611787579.404 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-01-27T22:46:19.406Z,1611787579.406 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-01-27T22:46:19.408Z,1611787579.408 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-01-27T22:46:19.410Z,1611787579.410 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-01-27T22:46:19.412Z,1611787579.412 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-01-27T22:46:19.415Z,1611787579.415 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-01-27T22:46:19.417Z,1611787579.417 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-01-27T22:46:19.420Z,1611787579.420 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-01-27T22:46:19.422Z,1611787579.422 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-01-27T22:46:19.425Z,1611787579.425 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-01-27T22:46:19.427Z,1611787579.427 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-01-27T22:46:19.430Z,1611787579.430 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-01-27T22:46:19.432Z,1611787579.432 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-01-27T22:46:19.434Z,1611787579.434 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-01-27T22:46:19.460Z,1611787579.460 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-01-27T22:46:19.463Z,1611787579.463 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-01-27T22:46:19.469Z,1611787579.469 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-01-27T22:46:19.471Z,1611787579.471 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-01-27T22:46:19.478Z,1611787579.478 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-01-27T22:46:19.484Z,1611787579.484 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-01-27T22:46:19.487Z,1611787579.487 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-01-27T22:46:19.490Z,1611787579.490 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-01-27T22:46:19.504Z,1611787579.504 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-01-27T22:46:19.506Z,1611787579.506 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-01-27T22:46:19.513Z,1611787579.513 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m
2021-01-27T22:46:19.515Z,1611787579.515 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-01-27T22:46:19.530Z,1611787579.530 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-01-27T22:46:19.536Z,1611787579.536 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-01-27T22:46:19.539Z,1611787579.539 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-01-27T22:46:19.545Z,1611787579.545 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-01-27T22:46:19.547Z,1611787579.547 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-01-27T22:46:19.551Z,1611787579.551 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-01-27T22:46:19.566Z,1611787579.566 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-01-27T22:46:19.570Z,1611787579.570 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-01-27T22:46:19.627Z,1611787579.627 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-01-27T22:46:19.655Z,1611787579.655 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-01-27T22:46:19.681Z,1611787579.681 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-01-27T22:46:19.730Z,1611787579.730 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-01-27T22:46:19.775Z,1611787579.775 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-27T22:46:19.809Z,1611787579.809 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-01-27T22:46:19.833Z,1611787579.833 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-27T22:46:19.862Z,1611787579.862 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-27T22:46:19.884Z,1611787579.884 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-27T22:46:19.905Z,1611787579.905 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-01-27T22:46:19.941Z,1611787579.941 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-01-27T22:46:19.946Z,1611787579.946 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-01-27T22:46:19.948Z,1611787579.948 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-01-27T22:46:19.949Z,1611787579.949 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-01-27T22:46:19.954Z,1611787579.954 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-01-27T22:46:19.974Z,1611787579.974 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-01-27T22:46:20.019Z,1611787580.019 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-01-27T22:46:20.118Z,1611787580.118 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-01-27T22:46:20.125Z,1611787580.125 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-01-27T22:46:20.127Z,1611787580.127 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-01-27T22:46:20.135Z,1611787580.135 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-01-27T22:46:20.141Z,1611787580.141 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-01-27T22:46:20.143Z,1611787580.143 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-01-27T22:46:20.153Z,1611787580.153 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-01-27T22:46:20.159Z,1611787580.159 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-01-27T22:46:20.196Z,1611787580.196 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-01-27T22:46:20.221Z,1611787580.221 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-01-27T22:46:20.232Z,1611787580.232 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-01-27T22:46:20.241Z,1611787580.241 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-01-27T22:46:20.273Z,1611787580.273 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-01-27T22:46:20.506Z,1611787580.506 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552000 arcdeg
2021-01-27T22:46:20.509Z,1611787580.509 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.709610 arcdeg
2021-01-27T22:46:20.511Z,1611787580.511 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-01-27T22:46:20.514Z,1611787580.514 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-01-27T22:46:20.516Z,1611787580.516 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-01-27T22:46:20.518Z,1611787580.518 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-01-27T22:46:20.521Z,1611787580.521 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-01-27T22:46:20.523Z,1611787580.523 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-01-27T22:46:20.526Z,1611787580.526 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-01-27T22:46:20.552Z,1611787580.552 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-01-27T22:46:20.555Z,1611787580.555 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-01-27T22:46:20.559Z,1611787580.559 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-01-27T22:46:20.570Z,1611787580.570 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-01-27T22:46:20.576Z,1611787580.576 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-01-27T22:46:20.578Z,1611787580.578 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-01-27T22:46:20.597Z,1611787580.597 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-01-27T22:46:20.599Z,1611787580.599 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-01-27T22:46:20.601Z,1611787580.601 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-01-27T22:46:20.603Z,1611787580.603 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-01-27T22:46:20.606Z,1611787580.606 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-01-27T22:46:20.621Z,1611787580.621 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-01-27T22:46:20.652Z,1611787580.652 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-01-27T22:46:20.657Z,1611787580.657 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-01-27T22:46:20.659Z,1611787580.659 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-01-27T22:46:20.662Z,1611787580.662 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-01-27T22:46:20.668Z,1611787580.668 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-01-27T22:46:20.676Z,1611787580.676 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-01-27T22:46:20.746Z,1611787580.746 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-01-27T22:46:20.751Z,1611787580.751 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-01-27T22:46:20.762Z,1611787580.762 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-01-27T22:46:20.763Z,1611787580.763 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-01-27T22:46:20.782Z,1611787580.782 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-01-27T22:46:20.842Z,1611787580.842 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-01-27T22:46:20.894Z,1611787580.894 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-01-27T22:46:20.901Z,1611787580.901 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-01-27T22:46:20.911Z,1611787580.911 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-01-27T22:46:20.911Z,1611787580.911 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T22:46:20.951Z,1611787580.951 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-01-27T22:46:20.957Z,1611787580.957 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-01-27T22:46:20.962Z,1611787580.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-01-27T22:46:20.983Z,1611787580.983 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2021-01-27T22:46:21.015Z,1611787581.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-01-27T22:46:21.027Z,1611787581.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-01-27T22:46:21.035Z,1611787581.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-01-27T22:46:21.035Z,1611787581.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-27T22:46:21.047Z,1611787581.047 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-01-27T22:46:21.055Z,1611787581.055 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-01-27T22:46:21.096Z,1611787581.096 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552000 arcdeg
2021-01-27T22:46:21.098Z,1611787581.098 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.709610 arcdeg
2021-01-27T22:46:21.101Z,1611787581.101 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-01-27T22:46:21.103Z,1611787581.103 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-01-27T22:46:21.109Z,1611787581.109 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-01-27T22:46:21.120Z,1611787581.120 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct.
2021-01-27T22:46:21.120Z,1611787581.120 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2021-01-27T22:46:21.128Z,1611787581.128 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2021-01-27T22:46:21.128Z,1611787581.128 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T22:46:21.217Z,1611787581.217 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Dock="Tethys/Dock"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="lineCaptureDepth">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data (4) Dock: final approach using fixed heading.
    </Description>

    <!-- Define mission arguments -->

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

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

    <!-- Micromodem comms -->

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

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

    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
        <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:TrackAcousticContact>

    <!-- Add LineCapture directives. -->

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

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

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

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

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

    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

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

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

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

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

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

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

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

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

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

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

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

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Mission>


2021-01-27T22:46:21.218Z,1611787581.218 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-01-27T22:46:30.245Z,1611787590.245 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 45.000000 minute
2021-01-27T22:46:30.246Z,1611787590.246 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute
2021-01-27T22:46:30.247Z,1611787590.247 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 5.000000 count
2021-01-27T22:46:30.247Z,1611787590.247 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-01-27T22:46:34.424Z,1611787594.424 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-01-27T22:46:34.425Z,1611787594.425 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter
2021-01-27T22:46:34.425Z,1611787594.425 [CommandLine](IMPORTANT): got command run
2021-01-27T22:46:34.430Z,1611787594.430 [CommandLine](IMPORTANT): Running 
2021-01-27T22:46:34.559Z,1611787594.559 [DefaultWithUndock] Stopped
2021-01-27T22:46:34.559Z,1611787594.559 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-01-27T22:46:34.559Z,1611787594.559 [DefaultWithUndock:SurfaceDefault] Stopped
2021-01-27T22:46:34.559Z,1611787594.559 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-01-27T22:46:34.559Z,1611787594.559 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-01-27T22:46:34.559Z,1611787594.559 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-01-27T22:46:34.559Z,1611787594.559 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-27T22:46:34.560Z,1611787594.560 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T22:46:34.560Z,1611787594.560 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-27T22:46:34.560Z,1611787594.560 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T22:46:34.560Z,1611787594.560 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-01-27T22:46:34.560Z,1611787594.560 [lineCaptureDepth] Running Loop=1
2021-01-27T22:46:34.560Z,1611787594.560 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:A] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:B] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:C] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:D] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:E] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:F] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-01-27T22:46:34.561Z,1611787594.561 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-01-27T22:46:34.562Z,1611787594.562 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-27T22:46:34.563Z,1611787594.563 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-01-27T22:46:34.563Z,1611787594.563 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-01-27T22:46:34.563Z,1611787594.563 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-01-27T22:46:34.563Z,1611787594.563 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-01-27T22:46:34.563Z,1611787594.563 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-01-27T22:46:34.564Z,1611787594.564 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-01-27T22:46:34.564Z,1611787594.564 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-01-27T22:46:34.564Z,1611787594.564 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-27T22:46:34.565Z,1611787594.565 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-01-27T22:46:34.565Z,1611787594.565 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-01-27T22:46:34.565Z,1611787594.565 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-01-27T22:46:34.565Z,1611787594.565 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-27T22:46:34.566Z,1611787594.566 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-01-27T22:46:34.567Z,1611787594.567 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-01-27T22:46:34.567Z,1611787594.567 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-01-27T22:46:34.567Z,1611787594.567 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-27T22:46:34.568Z,1611787594.568 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-01-27T22:46:34.568Z,1611787594.568 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-01-27T22:46:34.568Z,1611787594.568 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-01-27T22:46:34.568Z,1611787594.568 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-01-27T22:46:34.568Z,1611787594.568 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T22:46:34.569Z,1611787594.569 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T22:46:34.570Z,1611787594.570 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T22:46:34.570Z,1611787594.570 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T22:46:34.570Z,1611787594.570 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T22:46:34.570Z,1611787594.570 [lineCaptureDepth:J.] Running Loop=1
2021-01-27T22:46:34.570Z,1611787594.570 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact.
2021-01-27T22:46:34.570Z,1611787594.570 [lineCaptureDepth:C] Running Loop=1
2021-01-27T22:46:34.571Z,1611787594.571 [lineCaptureDepth:J.] Running Loop=1
2021-01-27T22:46:34.572Z,1611787594.572 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T22:46:34.572Z,1611787594.572 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T22:46:34.572Z,1611787594.572 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T22:46:34.572Z,1611787594.572 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T22:46:34.572Z,1611787594.572 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T22:46:34.572Z,1611787594.572 [lineCaptureDepth:C] Stopped
2021-01-27T22:46:34.573Z,1611787594.573 [lineCaptureDepth:D] Running Loop=1
2021-01-27T22:46:34.573Z,1611787594.573 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-01-27T22:46:34.573Z,1611787594.573 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-27T22:46:34.573Z,1611787594.573 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-27T22:46:34.573Z,1611787594.573 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-27T22:46:34.574Z,1611787594.574 [lineCaptureDepth:Science] Running Loop=1
2021-01-27T22:46:34.574Z,1611787594.574 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-27T22:46:34.575Z,1611787594.575 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-01-27T22:46:34.592Z,1611787594.592 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-01-27T22:46:34.593Z,1611787594.593 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-01-27T22:46:34.593Z,1611787594.593 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-01-27T22:46:34.593Z,1611787594.593 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-01-27T22:46:34.593Z,1611787594.593 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-01-27T22:46:34.593Z,1611787594.593 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-01-27T22:46:34.593Z,1611787594.593 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-27T22:46:34.594Z,1611787594.594 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-01-27T22:46:34.600Z,1611787594.600 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-01-27T22:46:34.601Z,1611787594.601 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-01-27T22:46:34.601Z,1611787594.601 [lineCaptureDepth:Science:F] Stopped
2021-01-27T22:46:34.601Z,1611787594.601 [lineCaptureDepth:Science:E] Stopped
2021-01-27T22:46:34.601Z,1611787594.601 [lineCaptureDepth:Science:D] Stopped
2021-01-27T22:46:34.601Z,1611787594.601 [lineCaptureDepth:Science:C] Running Loop=1
2021-01-27T22:46:34.601Z,1611787594.601 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-01-27T22:46:34.602Z,1611787594.602 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-01-27T22:46:34.602Z,1611787594.602 [lineCaptureDepth:Science:B] Running Loop=1
2021-01-27T22:46:34.602Z,1611787594.602 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-01-27T22:46:34.603Z,1611787594.603 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-01-27T22:46:34.603Z,1611787594.603 [lineCaptureDepth:Science:A] Stopped
2021-01-27T22:46:34.768Z,1611787594.768 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-01-27T22:46:34.976Z,1611787594.976 [lineCaptureDepth:D] Stopped
2021-01-27T22:46:34.976Z,1611787594.976 [lineCaptureDepth:E] Running Loop=1
2021-01-27T22:46:35.382Z,1611787595.382 [lineCaptureDepth:E] Stopped
2021-01-27T22:46:35.382Z,1611787595.382 [lineCaptureDepth:G] Running Loop=1
2021-01-27T22:46:35.810Z,1611787595.810 [lineCaptureDepth:G] Stopped
2021-01-27T22:46:35.810Z,1611787595.810 [lineCaptureDepth:H] Running Loop=1
2021-01-27T22:46:36.189Z,1611787596.189 [lineCaptureDepth:H] Stopped
2021-01-27T22:46:36.189Z,1611787596.189 [lineCaptureDepth:L] Running Loop=1
2021-01-27T22:46:36.583Z,1611787596.583 [lineCaptureDepth:L] Stopped
2021-01-27T22:46:36.583Z,1611787596.583 [lineCaptureDepth:M] Running Loop=1
2021-01-27T22:46:37.015Z,1611787597.015 [lineCaptureDepth:M] Stopped
2021-01-27T22:46:37.016Z,1611787597.016 [lineCaptureDepth:N] Running Loop=1
2021-01-27T22:46:37.385Z,1611787597.385 [lineCaptureDepth:N] Stopped
2021-01-27T22:46:37.385Z,1611787597.385 [lineCaptureDepth:Lap] Running Loop=1
2021-01-27T22:46:37.385Z,1611787597.385 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-01-27T22:46:37.386Z,1611787597.386 [lineCaptureDepth:Lap:A] Running Loop=1
2021-01-27T22:46:37.386Z,1611787597.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:46:37.850Z,1611787597.850 [lineCaptureDepth:Lap:A] Stopped
2021-01-27T22:46:37.850Z,1611787597.850 [lineCaptureDepth:Lap:B] Running Loop=1
2021-01-27T22:46:37.851Z,1611787597.851 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-01-27T22:46:37.925Z,1611787597.925 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-01-27T22:46:38.188Z,1611787598.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:46:38.259Z,1611787598.259 [lineCaptureDepth:LineCapture] Running Loop=1
2021-01-27T22:46:38.260Z,1611787598.260 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-01-27T22:46:38.260Z,1611787598.260 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-01-27T22:46:38.260Z,1611787598.260 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-01-27T22:46:38.261Z,1611787598.261 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-27T22:46:38.261Z,1611787598.261 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-01-27T22:46:38.261Z,1611787598.261 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-27T22:46:38.261Z,1611787598.261 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-01-27T22:46:38.262Z,1611787598.262 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-27T22:46:38.262Z,1611787598.262 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-01-27T22:46:38.262Z,1611787598.262 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-01-27T22:46:38.262Z,1611787598.262 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-01-27T22:46:38.262Z,1611787598.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-27T22:46:38.262Z,1611787598.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-27T22:46:38.262Z,1611787598.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-27T22:46:38.263Z,1611787598.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-27T22:46:38.263Z,1611787598.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-01-27T22:46:38.263Z,1611787598.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-27T22:46:38.263Z,1611787598.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-01-27T22:46:38.263Z,1611787598.263 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-01-27T22:46:38.268Z,1611787598.268 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-01-27T22:46:38.269Z,1611787598.269 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-27T22:46:38.269Z,1611787598.269 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-01-27T22:46:38.269Z,1611787598.269 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-01-27T22:46:38.269Z,1611787598.269 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-01-27T22:46:38.269Z,1611787598.269 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-01-27T22:46:38.269Z,1611787598.269 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-01-27T22:46:38.269Z,1611787598.269 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-01-27T22:46:38.270Z,1611787598.270 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-01-27T22:46:38.271Z,1611787598.271 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-01-27T22:46:38.271Z,1611787598.271 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-27T22:46:38.271Z,1611787598.271 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-27T22:46:38.276Z,1611787598.276 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-27T22:46:38.277Z,1611787598.277 [lineCaptureDepth:LineCapture:A] Stopped
2021-01-27T22:46:38.278Z,1611787598.278 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-01-27T22:46:38.604Z,1611787598.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:46:38.674Z,1611787598.674 [lineCaptureDepth:LineCapture:B] Stopped
2021-01-27T22:46:38.674Z,1611787598.674 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-01-27T22:46:39.058Z,1611787599.058 [lineCaptureDepth:LineCapture:D] Stopped
2021-01-27T22:46:39.058Z,1611787599.058 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-01-27T22:46:39.413Z,1611787599.413 [Micromodem](INFO): Nmea in: $SNTTA,0.074813,,,,224639.95*4D

2021-01-27T22:46:39.454Z,1611787599.454 [lineCaptureDepth:LineCapture:E] Stopped
2021-01-27T22:46:39.454Z,1611787599.454 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-01-27T22:46:39.833Z,1611787599.833 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:46:39.844Z,1611787599.844 [lineCaptureDepth:LineCapture:F] Stopped
2021-01-27T22:46:39.844Z,1611787599.844 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-01-27T22:46:39.844Z,1611787599.844 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-01-27T22:46:39.844Z,1611787599.844 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-01-27T22:46:39.844Z,1611787599.844 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-27T22:46:39.844Z,1611787599.844 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-01-27T22:46:39.844Z,1611787599.844 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-27T22:46:39.845Z,1611787599.845 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-01-27T22:46:39.845Z,1611787599.845 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-01-27T22:46:39.845Z,1611787599.845 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T22:46:39.845Z,1611787599.845 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-27T22:46:39.845Z,1611787599.845 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-27T22:46:39.845Z,1611787599.845 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-01-27T22:46:39.845Z,1611787599.845 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-27T22:46:39.846Z,1611787599.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-27T22:46:39.846Z,1611787599.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-01-27T22:46:39.846Z,1611787599.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-27T22:46:39.846Z,1611787599.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-01-27T22:46:39.846Z,1611787599.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-01-27T22:46:39.846Z,1611787599.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-27T22:46:39.846Z,1611787599.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-27T22:46:39.846Z,1611787599.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-01-27T22:46:39.847Z,1611787599.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-27T22:46:39.847Z,1611787599.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-27T22:46:39.847Z,1611787599.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-01-27T22:46:39.847Z,1611787599.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-27T22:46:39.847Z,1611787599.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-27T22:46:39.847Z,1611787599.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-01-27T22:46:40.230Z,1611787600.230 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-27T22:46:40.231Z,1611787600.231 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-01-27T22:46:40.231Z,1611787600.231 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-01-27T22:46:40.231Z,1611787600.231 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-01-27T22:46:40.231Z,1611787600.231 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-01-27T22:46:40.231Z,1611787600.231 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-01-27T22:46:40.644Z,1611787600.644 [PowerOnly](INFO): Powering up loadControl
2021-01-27T22:46:41.478Z,1611787601.478 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-01-27T22:46:41.892Z,1611787601.892 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-01-27T22:46:41.894Z,1611787601.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:46:42.683Z,1611787602.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:46:43.060Z,1611787603.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:46:43.897Z,1611787603.897 [Micromodem](INFO): Nmea in: $SNTTA,0.075047,,0.090314,,224644.44*52

2021-01-27T22:46:46.304Z,1611787606.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:46:47.098Z,1611787607.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:46:47.500Z,1611787607.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:46:48.349Z,1611787608.349 [Micromodem](INFO): Nmea in: $SNTTA,0.075203,,,,224648.86*43

2021-01-27T22:46:50.776Z,1611787610.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:46:51.543Z,1611787611.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:46:51.948Z,1611787611.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:46:52.781Z,1611787612.781 [Micromodem](INFO): Nmea in: $SNTTA,0.075531,,,,224653.30*42

2021-01-27T22:46:54.881Z,1611787614.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:46:55.586Z,1611787615.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:46:55.990Z,1611787615.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:46:56.825Z,1611787616.825 [Micromodem](INFO): Nmea in: $SNTTA,0.075775,,,,224657.34*40

2021-01-27T22:46:59.248Z,1611787619.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:00.030Z,1611787620.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:00.134Z,1611787620.134 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T22:47:00.432Z,1611787620.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:01.281Z,1611787621.281 [Micromodem](INFO): Nmea in: $SNTTA,0.076116,,,,224701.79*4B

2021-01-27T22:47:02.115Z,1611787622.115 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 114.18 m. Transitioning DDM to standby.
2021-01-27T22:47:03.766Z,1611787623.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:04.471Z,1611787624.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:04.876Z,1611787624.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:05.729Z,1611787625.729 [Micromodem](INFO): Nmea in: $SNTTA,0.076325,,,,224706.23*41

2021-01-27T22:47:07.820Z,1611787627.820 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-01-27T22:47:07.822Z,1611787627.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:08.151Z,1611787628.151 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-01-27T22:47:08.151Z,1611787628.151 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-01-27T22:47:08.151Z,1611787628.151 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-01-27T22:47:08.478Z,1611787628.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:08.565Z,1611787628.565 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-01-27T22:47:08.565Z,1611787628.565 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-01-27T22:47:08.565Z,1611787628.565 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-01-27T22:47:08.916Z,1611787628.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:08.981Z,1611787628.981 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-01-27T22:47:08.981Z,1611787628.981 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-27T22:47:08.981Z,1611787628.981 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-01-27T22:47:08.981Z,1611787628.981 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-27T22:47:08.981Z,1611787628.981 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-27T22:47:09.304Z,1611787629.304 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-01-27T22:47:09.305Z,1611787629.305 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-27T22:47:09.306Z,1611787629.306 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-27T22:47:09.306Z,1611787629.306 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-27T22:47:09.306Z,1611787629.306 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-01-27T22:47:09.306Z,1611787629.306 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-27T22:47:09.307Z,1611787629.307 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-01-27T22:47:09.307Z,1611787629.307 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 114.480003 m 
2021-01-27T22:47:09.307Z,1611787629.307 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-01-27T22:47:09.307Z,1611787629.307 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-01-27T22:47:09.308Z,1611787629.308 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552000 arcdeg , -70.709610 arcdeg )
2021-01-27T22:47:09.309Z,1611787629.309 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-01-27T22:47:09.309Z,1611787629.309 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-01-27T22:47:09.309Z,1611787629.309 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-01-27T22:47:09.728Z,1611787629.728 [Micromodem](INFO): Nmea in: $SNTTA,0.076582,,,0.088551,224710.24*55

2021-01-27T22:47:09.805Z,1611787629.805 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:47:09.826Z,1611787629.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-01-27T22:47:09.826Z,1611787629.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-27T22:47:09.826Z,1611787629.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-01-27T22:47:09.826Z,1611787629.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-27T22:47:09.826Z,1611787629.826 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-27T22:47:09.826Z,1611787629.826 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-27T22:47:09.827Z,1611787629.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-27T22:47:09.827Z,1611787629.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-27T22:47:09.827Z,1611787629.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-01-27T22:47:09.827Z,1611787629.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-27T22:47:09.827Z,1611787629.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-01-27T22:47:09.827Z,1611787629.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-27T22:47:09.827Z,1611787629.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-27T22:47:09.827Z,1611787629.827 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-27T22:47:09.834Z,1611787629.834 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-27T22:47:10.133Z,1611787630.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-01-27T22:47:10.134Z,1611787630.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-27T22:47:10.135Z,1611787630.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-27T22:47:10.135Z,1611787630.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-27T22:47:10.135Z,1611787630.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-27T22:47:10.136Z,1611787630.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-01-27T22:47:10.136Z,1611787630.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-01-27T22:47:10.136Z,1611787630.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-01-27T22:47:10.136Z,1611787630.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-01-27T22:47:10.136Z,1611787630.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-01-27T22:47:10.136Z,1611787630.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-27T22:47:10.137Z,1611787630.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-01-27T22:47:10.137Z,1611787630.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-01-27T22:47:10.138Z,1611787630.138 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-01-27T22:47:10.527Z,1611787630.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.080002 m, bearing: 347.915711 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-27T22:47:10.528Z,1611787630.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 347.915711deg and heading rate command to 0 deg/s.
2021-01-27T22:47:11.825Z,1611787631.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:12.562Z,1611787632.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:12.974Z,1611787632.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:13.861Z,1611787633.861 [Micromodem](INFO): Nmea in: $SNTTA,0.076825,,,,224714.32*49

2021-01-27T22:47:13.950Z,1611787633.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.200005 m, bearing: 26.608790 deg, deltaT: 4.085643 s, approachRate: 0.029372 m/s, LOS rate: 9.470496 deg/s, posRepo size: 2
2021-01-27T22:47:13.956Z,1611787633.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 9.470496 deg/s. Setting heading cmd to target bearing of 26.608790deg and heading rate command to 0 deg/s.
2021-01-27T22:47:16.238Z,1611787636.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:17.011Z,1611787637.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:17.404Z,1611787637.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:18.253Z,1611787638.253 [Micromodem](INFO): Nmea in: $SNTTA,0.077017,,,,224718.77*4C

2021-01-27T22:47:18.291Z,1611787638.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 21.955059 deg, deltaT: 4.465804 s, approachRate: 0.040306 m/s, LOS rate: -1.042081 deg/s, posRepo size: 3
2021-01-27T22:47:18.293Z,1611787638.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.380005 m,
      bearing: 21.955059 deg,
      approachRate: 0.040306 m/s,
      LOS rate: -1.042081 deg/s,
      cmd update: -4.168325 deg/s,
      cmd heading: 26.608790 deg,
      new cmd heading: 26.608790 deg.

2021-01-27T22:47:19.873Z,1611787639.873 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:47:20.683Z,1611787640.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:21.124Z,1611787641.124 [BuoyancyServo](FAULT): Overload Error
2021-01-27T22:47:21.124Z,1611787641.124 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-01-27T22:47:21.124Z,1611787641.124 [BuoyancyServo](ERROR): Hardware Fault
2021-01-27T22:47:21.308Z,1611787641.308 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-01-27T22:47:21.446Z,1611787641.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:21.856Z,1611787641.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:22.705Z,1611787642.705 [Micromodem](INFO): Nmea in: $SNTTA,0.076914,,,,224723.20*4D

2021-01-27T22:47:22.730Z,1611787642.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.259995 m, bearing: 38.534063 deg, deltaT: 4.432833 s, approachRate: -0.027073 m/s, LOS rate: 3.740047 deg/s, posRepo size: 4
2021-01-27T22:47:22.756Z,1611787642.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.259995 m,
      bearing: 38.534063 deg,
      approachRate: -0.027073 m/s,
      LOS rate: 3.740047 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 8.064625 deg,
      new cmd heading: 6.243605 deg.

2021-01-27T22:47:23.114Z,1611787643.114 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-01-27T22:47:23.114Z,1611787643.114 [BuoyancyServo](INFO): Powering down
2021-01-27T22:47:24.136Z,1611787644.136 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-01-27T22:47:24.136Z,1611787644.136 [BuoyancyServo] No Fault, FailCount= 1
2021-01-27T22:47:24.308Z,1611787644.308 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-01-27T22:47:24.309Z,1611787644.309 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-01-27T22:47:24.812Z,1611787644.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:25.482Z,1611787645.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:25.888Z,1611787645.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:26.753Z,1611787646.753 [Micromodem](INFO): Nmea in: $SNTTA,0.077029,,,,224727.24*4B

2021-01-27T22:47:26.815Z,1611787646.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.560005 m, bearing: 307.583062 deg, deltaT: 4.048382 s, approachRate: 0.074106 m/s, LOS rate: -22.466014 deg/s, posRepo size: 4
2021-01-27T22:47:26.816Z,1611787646.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.466014 deg/s. Setting heading cmd to target bearing of 307.583062deg and heading rate command to 0 deg/s.
2021-01-27T22:47:29.152Z,1611787649.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:29.926Z,1611787649.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:30.337Z,1611787650.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:31.201Z,1611787651.201 [Micromodem](INFO): Nmea in: $SNTTA,0.077593,,,,224731.69*41

2021-01-27T22:47:31.275Z,1611787651.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 31.044289 deg, deltaT: 4.438494 s, approachRate: 0.175735 m/s, LOS rate: 18.803948 deg/s, posRepo size: 4
2021-01-27T22:47:31.288Z,1611787651.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.803948 deg/s. Setting heading cmd to target bearing of 31.044289deg and heading rate command to 0 deg/s.
2021-01-27T22:47:33.298Z,1611787653.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:34.087Z,1611787654.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:34.527Z,1611787654.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:35.359Z,1611787655.359 [Micromodem](INFO): Nmea in: $SNTTA,0.078301,,,,224735.85*45

2021-01-27T22:47:35.379Z,1611787655.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.480003 m, bearing: 24.713614 deg, deltaT: 4.258160 s, approachRate: 0.267721 m/s, LOS rate: -1.486716 deg/s, posRepo size: 4
2021-01-27T22:47:35.381Z,1611787655.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.480003 m,
      bearing: 24.713614 deg,
      approachRate: 0.267721 m/s,
      LOS rate: -1.486716 deg/s,
      cmd update: -5.946865 deg/s,
      cmd heading: 31.044289 deg,
      new cmd heading: 31.044289 deg.

2021-01-27T22:47:37.851Z,1611787657.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:38.563Z,1611787658.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:38.975Z,1611787658.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:39.869Z,1611787659.869 [Micromodem](INFO): Nmea in: $SNTTA,0.078926,,,,224740.32*44

2021-01-27T22:47:39.887Z,1611787659.887 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T22:47:39.945Z,1611787659.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 42.929604 deg, deltaT: 4.395716 s, approachRate: 0.204743 m/s, LOS rate: 4.144032 deg/s, posRepo size: 4
2021-01-27T22:47:39.946Z,1611787659.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.379997 m,
      bearing: 42.929604 deg,
      approachRate: 0.204743 m/s,
      LOS rate: 4.144032 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.980781 deg,
      new cmd heading: 1.868566 deg.

2021-01-27T22:47:42.309Z,1611787662.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:43.110Z,1611787663.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:43.526Z,1611787663.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:44.385Z,1611787664.385 [Micromodem](INFO): Nmea in: $SNTTA,0.079330,,,,224744.87*42

2021-01-27T22:47:44.403Z,1611787664.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.920006 m, bearing: 324.143183 deg, deltaT: 4.609913 s, approachRate: 0.117141 m/s, LOS rate: -17.090651 deg/s, posRepo size: 4
2021-01-27T22:47:44.409Z,1611787664.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.090651 deg/s. Setting heading cmd to target bearing of 324.143183deg and heading rate command to 0 deg/s.
2021-01-27T22:47:46.862Z,1611787666.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:47.578Z,1611787667.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:48.052Z,1611787668.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:48.845Z,1611787668.845 [Micromodem](INFO): Nmea in: $SNTTA,0.078955,,,,224749.34*4F

2021-01-27T22:47:48.950Z,1611787668.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.260002 m, bearing: 80.624461 deg, deltaT: 4.394362 s, approachRate: -0.150193 m/s, LOS rate: 26.506981 deg/s, posRepo size: 4
2021-01-27T22:47:48.951Z,1611787668.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.506981 deg/s. Setting heading cmd to target bearing of 80.624461deg and heading rate command to 0 deg/s.
2021-01-27T22:47:50.069Z,1611787670.069 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T22:47:50.946Z,1611787670.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:51.686Z,1611787671.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:52.141Z,1611787672.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:52.913Z,1611787672.913 [Micromodem](INFO): Nmea in: $SNTTA,0.078264,,,,224753.44*4A

2021-01-27T22:47:52.960Z,1611787672.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.240005 m, bearing: 89.862067 deg, deltaT: 4.099135 s, approachRate: -0.248832 m/s, LOS rate: 2.253550 deg/s, posRepo size: 4
2021-01-27T22:47:52.963Z,1611787672.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.240005 m,
      bearing: 89.862067 deg,
      approachRate: -0.248832 m/s,
      LOS rate: 2.253550 deg/s,
      cmd update: 9.014199 deg/s,
      cmd heading: 80.624461 deg,
      new cmd heading: 80.624461 deg.

2021-01-27T22:47:55.363Z,1611787675.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:47:56.110Z,1611787676.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:47:56.516Z,1611787676.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:47:57.462Z,1611787677.462 [Micromodem](INFO): Nmea in: $SNTTA,0.077482,,,0.243809,224757.87*5A

2021-01-27T22:47:57.534Z,1611787677.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.040009 m, bearing: 89.344878 deg, deltaT: 4.580030 s, approachRate: -0.262006 m/s, LOS rate: -0.112923 deg/s, posRepo size: 4
2021-01-27T22:47:57.568Z,1611787677.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.040009 m,
      bearing: 89.344878 deg,
      approachRate: -0.262006 m/s,
      LOS rate: -0.112923 deg/s,
      cmd update: -0.451690 deg/s,
      cmd heading: 121.837588 deg,
      new cmd heading: 125.736320 deg.

2021-01-27T22:47:59.676Z,1611787679.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:00.414Z,1611787680.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:00.816Z,1611787680.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:01.685Z,1611787681.685 [Micromodem](INFO): Nmea in: $SNTTA,0.076769,,,,224802.17*41

2021-01-27T22:48:01.738Z,1611787681.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.020004 m, bearing: 95.856842 deg, deltaT: 4.161027 s, approachRate: -0.245133 m/s, LOS rate: 1.564990 deg/s, posRepo size: 4
2021-01-27T22:48:01.744Z,1611787681.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.020004 m,
      bearing: 95.856842 deg,
      approachRate: -0.245133 m/s,
      LOS rate: 1.564990 deg/s,
      cmd update: 6.259958 deg/s,
      cmd heading: 119.952661 deg,
      new cmd heading: 119.743231 deg.

2021-01-27T22:48:04.076Z,1611787684.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:04.882Z,1611787684.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:05.261Z,1611787685.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:06.093Z,1611787686.093 [Micromodem](INFO): Nmea in: $SNTTA,0.075950,,,,224806.64*46

2021-01-27T22:48:06.115Z,1611787686.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.760002 m, bearing: 87.496069 deg, deltaT: 4.501466 s, approachRate: -0.279909 m/s, LOS rate: -1.857344 deg/s, posRepo size: 4
2021-01-27T22:48:06.133Z,1611787686.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.760002 m,
      bearing: 87.496069 deg,
      approachRate: -0.279909 m/s,
      LOS rate: -1.857344 deg/s,
      cmd update: -7.429378 deg/s,
      cmd heading: 148.130418 deg,
      new cmd heading: 150.254672 deg.

2021-01-27T22:48:08.542Z,1611787688.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:09.342Z,1611787689.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:09.762Z,1611787689.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:10.577Z,1611787690.577 [Micromodem](INFO): Nmea in: $SNTTA,0.074864,,,,224811.10*44

2021-01-27T22:48:10.651Z,1611787690.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.140007 m, bearing: 86.989979 deg, deltaT: 4.385346 s, approachRate: -0.369411 m/s, LOS rate: -0.115405 deg/s, posRepo size: 4
2021-01-27T22:48:10.657Z,1611787690.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.140007 m,
      bearing: 86.989979 deg,
      approachRate: -0.369411 m/s,
      LOS rate: -0.115405 deg/s,
      cmd update: -0.461619 deg/s,
      cmd heading: 115.518421 deg,
      new cmd heading: 111.910961 deg.

2021-01-27T22:48:12.181Z,1611787692.181 [PowerOnly](INFO): Powering down loadControl
2021-01-27T22:48:13.045Z,1611787693.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:13.790Z,1611787693.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:14.188Z,1611787694.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:15.025Z,1611787695.025 [Micromodem](INFO): Nmea in: $SNTTA,0.073717,,0.074867,,224815.55*59

2021-01-27T22:48:15.071Z,1611787695.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.339996 m, bearing: 84.914169 deg, deltaT: 4.483936 s, approachRate: -0.401435 m/s, LOS rate: -0.462944 deg/s, posRepo size: 4
2021-01-27T22:48:15.073Z,1611787695.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.339996 m,
      bearing: 84.914169 deg,
      approachRate: -0.401435 m/s,
      LOS rate: -0.462944 deg/s,
      cmd update: -1.851775 deg/s,
      cmd heading: 113.465409 deg,
      new cmd heading: 113.253752 deg.

2021-01-27T22:48:17.437Z,1611787697.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:18.222Z,1611787698.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:18.664Z,1611787698.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:19.473Z,1611787699.473 [Micromodem](INFO): Nmea in: $SNTTA,0.072363,,,,224819.98*46

2021-01-27T22:48:19.507Z,1611787699.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.360001 m, bearing: 88.710702 deg, deltaT: 4.445376 s, approachRate: -0.445406 m/s, LOS rate: 0.854041 deg/s, posRepo size: 4
2021-01-27T22:48:19.509Z,1611787699.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.360001 m,
      bearing: 88.710702 deg,
      approachRate: -0.445406 m/s,
      LOS rate: 0.854041 deg/s,
      cmd update: 3.416164 deg/s,
      cmd heading: 105.174481 deg,
      new cmd heading: 104.402911 deg.

2021-01-27T22:48:21.902Z,1611787701.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:22.694Z,1611787702.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:23.112Z,1611787703.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:23.910Z,1611787703.910 [Micromodem](INFO): Nmea in: $SNTTA,0.071051,,,,224824.45*49

2021-01-27T22:48:23.962Z,1611787703.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.440002 m, bearing: 84.496168 deg, deltaT: 4.399194 s, approachRate: -0.436443 m/s, LOS rate: -0.958024 deg/s, posRepo size: 4
2021-01-27T22:48:23.965Z,1611787703.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.440002 m,
      bearing: 84.496168 deg,
      approachRate: -0.436443 m/s,
      LOS rate: -0.958024 deg/s,
      cmd update: -3.832096 deg/s,
      cmd heading: 120.214873 deg,
      new cmd heading: 121.813908 deg.

2021-01-27T22:48:26.338Z,1611787706.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:27.114Z,1611787707.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:27.517Z,1611787707.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:28.357Z,1611787708.357 [Micromodem](INFO): Nmea in: $SNTTA,0.069847,,,,224828.87*4D

2021-01-27T22:48:28.387Z,1611787708.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.519997 m, bearing: 83.303391 deg, deltaT: 4.520600 s, approachRate: -0.424724 m/s, LOS rate: -0.263854 deg/s, posRepo size: 4
2021-01-27T22:48:28.389Z,1611787708.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.519997 m,
      bearing: 83.303391 deg,
      approachRate: -0.424724 m/s,
      LOS rate: -0.263854 deg/s,
      cmd update: -1.055414 deg/s,
      cmd heading: 102.951018 deg,
      new cmd heading: 101.460210 deg.

2021-01-27T22:48:30.775Z,1611787710.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:31.554Z,1611787711.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:31.979Z,1611787711.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:32.810Z,1611787712.810 [Micromodem](INFO): Nmea in: $SNTTA,0.068523,,,,224833.31*44

2021-01-27T22:48:32.843Z,1611787712.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.479996 m, bearing: 82.515625 deg, deltaT: 4.426042 s, approachRate: -0.460909 m/s, LOS rate: -0.177984 deg/s, posRepo size: 4
2021-01-27T22:48:32.845Z,1611787712.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.479996 m,
      bearing: 82.515625 deg,
      approachRate: -0.460909 m/s,
      LOS rate: -0.177984 deg/s,
      cmd update: -0.711938 deg/s,
      cmd heading: 98.266660 deg,
      new cmd heading: 97.837171 deg.

2021-01-27T22:48:35.220Z,1611787715.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:36.003Z,1611787716.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:36.422Z,1611787716.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:37.253Z,1611787717.253 [Micromodem](INFO): Nmea in: $SNTTA,0.067316,,,0.069817,224837.76*53

2021-01-27T22:48:37.276Z,1611787717.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.800011 m, bearing: 83.954438 deg, deltaT: 4.422043 s, approachRate: -0.379912 m/s, LOS rate: 0.325373 deg/s, posRepo size: 4
2021-01-27T22:48:37.278Z,1611787717.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.800011 m,
      bearing: 83.954438 deg,
      approachRate: -0.379912 m/s,
      LOS rate: 0.325373 deg/s,
      cmd update: 1.301492 deg/s,
      cmd heading: 95.115445 deg,
      new cmd heading: 94.821281 deg.

2021-01-27T22:48:38.877Z,1611787718.877 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 5.00 mm (2 active estimators).
2021-01-27T22:48:39.695Z,1611787719.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:40.446Z,1611787720.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:40.889Z,1611787720.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:41.709Z,1611787721.709 [Micromodem](INFO): Nmea in: $SNTTA,0.066151,,,,224842.20*4D

2021-01-27T22:48:41.735Z,1611787721.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 85.127141 deg, deltaT: 4.430588 s, approachRate: -0.392726 m/s, LOS rate: 0.264683 deg/s, posRepo size: 4
2021-01-27T22:48:41.757Z,1611787721.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.060005 m,
      bearing: 85.127141 deg,
      approachRate: -0.392726 m/s,
      LOS rate: 0.264683 deg/s,
      cmd update: 1.058733 deg/s,
      cmd heading: 100.850371 deg,
      new cmd heading: 101.457033 deg.

2021-01-27T22:48:43.815Z,1611787723.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:44.494Z,1611787724.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:44.896Z,1611787724.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:48:44.977Z,1611787724.977 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T22:48:44.977Z,1611787724.977 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T22:48:44.977Z,1611787724.977 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T22:48:44.978Z,1611787724.978 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T22:48:44.978Z,1611787724.978 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T22:48:44.978Z,1611787724.978 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T22:48:44.980Z,1611787724.980 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-01-27T22:48:45.479Z,1611787725.479 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160090000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D
2021-01-27T22:48:45.494Z,1611787725.494 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A
2021-01-27T22:48:45.494Z,1611787725.494 [Micromodem](INFO): Outgoing frame #3, 53 bytes: 6B228430DDB08A2327DFC1CCA8026B134D47DCAFC3A3727DD5863CE69313477BA83D45CD915A1E46BEAE335F8E024D6ACA61276580
2021-01-27T22:48:45.495Z,1611787725.495 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-01-27T22:48:45.565Z,1611787725.565 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T22:48:45.565Z,1611787725.565 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T22:48:45.565Z,1611787725.565 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T22:48:45.565Z,1611787725.565 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T22:48:45.565Z,1611787725.565 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T22:48:45.865Z,1611787725.865 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-01-27T22:48:45.866Z,1611787725.866 [Micromodem](INFO): Nmea in: $CADRQ,224847,1,10,0,64,1*79

2021-01-27T22:48:45.867Z,1611787725.867 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160090000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D*37

2021-01-27T22:48:46.015Z,1611787726.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 87.724040 deg, deltaT: 4.258438 s, approachRate: -0.464958 m/s, LOS rate: 0.609824 deg/s, posRepo size: 4
2021-01-27T22:48:46.018Z,1611787726.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.080009 m,
      bearing: 87.724040 deg,
      approachRate: -0.464958 m/s,
      LOS rate: 0.609824 deg/s,
      cmd update: 2.439298 deg/s,
      cmd heading: 105.360601 deg,
      new cmd heading: 105.875092 deg.

2021-01-27T22:48:46.261Z,1611787726.261 [Micromodem](INFO): Nmea in: $SNTTA,0.064837,,,,224846.25*47

2021-01-27T22:48:46.262Z,1611787726.262 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.064837,,,,224846.25*47

2021-01-27T22:48:46.690Z,1611787726.690 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T22:48:47.070Z,1611787727.070 [Micromodem](INFO): Nmea in: $CADRQ,224847,1,10,0,64,2*7A

2021-01-27T22:48:47.070Z,1611787727.070 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A*33

2021-01-27T22:48:47.473Z,1611787727.473 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T22:48:47.474Z,1611787727.474 [Micromodem](INFO): Nmea in: $CADRQ,224848,1,10,0,64,3*74

2021-01-27T22:48:47.474Z,1611787727.474 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6B228430DDB08A2327DFC1CCA8026B134D47DCAFC3A3727DD5863CE69313477BA83D45CD915A1E46BEAE335F8E024D6ACA61276580*44

2021-01-27T22:48:47.897Z,1611787727.897 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,53*4D

2021-01-27T22:48:47.897Z,1611787727.897 [Micromodem](INFO): Nmea in: $CATXP,181*4A

2021-01-27T22:48:48.322Z,1611787728.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:49.079Z,1611787729.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:48:51.118Z,1611787731.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:51.914Z,1611787731.914 [Micromodem](INFO): Nmea in: $CATXF,181*5C

2021-01-27T22:48:51.915Z,1611787731.915 [Micromodem](ERROR): Response from modem unexpected: $CATXF,181*5C

2021-01-27T22:48:51.917Z,1611787731.917 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,224849.271712,3,0,200,4000,14500,1,1,10,1,3,3,3,181*7F

2021-01-27T22:48:51.917Z,1611787731.917 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,224849.271712,3,0,200,4000,14500,1,1,10,1,3,3,3,181*7F

2021-01-27T22:48:54.026Z,1611787734.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:55.182Z,1611787735.182 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T22:48:55.193Z,1611787735.193 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-27T22:48:55.555Z,1611787735.555 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-01-27T22:48:55.560Z,1611787735.560 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127224855.871951,06,9537,39,0340,0150,37,02,02,00,03,1,010,001,0,4,1,0,150,16.3,5.00,13,-2.00,-01,0.97,36,14500,4000*5B

2021-01-27T22:48:55.560Z,1611787735.560 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127224855.871951,06,9537,39,0340,0150,37,02,02,00,03,1,010,001,0,4,1,0,150,16.3,5.00,13,-2.00,-01,0.97,36,14500,4000*5B

2021-01-27T22:48:56.833Z,1611787736.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:48:59.693Z,1611787739.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:00.394Z,1611787740.394 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:00.810Z,1611787740.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:01.673Z,1611787741.673 [Micromodem](INFO): Nmea in: $SNTTA,0.059254,,,,224902.15*44

2021-01-27T22:49:01.757Z,1611787741.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.320000 m, bearing: 77.605559 deg, deltaT: 15.688962 s, approachRate: -0.558355 m/s, LOS rate: -0.644943 deg/s, posRepo size: 4
2021-01-27T22:49:01.759Z,1611787741.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.320000 m,
      bearing: 77.605559 deg,
      approachRate: -0.558355 m/s,
      LOS rate: -0.644943 deg/s,
      cmd update: -2.579771 deg/s,
      cmd heading: 143.675426 deg,
      new cmd heading: 144.945085 deg.

2021-01-27T22:49:03.749Z,1611787743.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:04.438Z,1611787744.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:04.873Z,1611787744.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:05.663Z,1611787745.663 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.249641
2021-01-27T22:49:05.721Z,1611787745.721 [Micromodem](INFO): Nmea in: $SNTTA,0.058057,,0.093964,,224906.20*59

2021-01-27T22:49:05.774Z,1611787745.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.459999 m, bearing: 66.744329 deg, deltaT: 4.051605 s, approachRate: -0.459077 m/s, LOS rate: -2.680723 deg/s, posRepo size: 4
2021-01-27T22:49:05.776Z,1611787745.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.459999 m,
      bearing: 66.744329 deg,
      approachRate: -0.459077 m/s,
      LOS rate: -2.680723 deg/s,
      cmd update: -10.722892 deg/s,
      cmd heading: 133.222615 deg,
      new cmd heading: 131.969172 deg.

2021-01-27T22:49:05.780Z,1611787745.780 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T22:49:05.780Z,1611787745.780 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T22:49:05.780Z,1611787745.780 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T22:49:05.780Z,1611787745.780 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T22:49:05.780Z,1611787745.780 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T22:49:06.165Z,1611787746.165 [Micromodem](INFO): Sent 173 bytes from file Logs/20210127T223404/Courier0009.lzma.parts
2021-01-27T22:49:06.165Z,1611787746.165 [Micromodem](INFO): Packets left to send: 0
2021-01-27T22:49:06.687Z,1611787746.687 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA11600C0000005D00000400320000000000000000151D80030C5669BF527B60938AC38274F39615E342E25DC381F34664CA6E254DF3C0F91612496D2DDFAA
2021-01-27T22:49:06.688Z,1611787746.688 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 2772BBE11800
2021-01-27T22:49:06.689Z,1611787746.689 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-27T22:49:06.979Z,1611787746.979 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-27T22:49:07.393Z,1611787747.393 [Micromodem](INFO): Nmea in: $CADRQ,224908,1,10,0,64,1*73

2021-01-27T22:49:07.393Z,1611787747.393 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA11600C0000005D00000400320000000000000000151D80030C5669BF527B60938AC38274F39615E342E25DC381F34664CA6E254DF3C0F91612496D2DDFAA*31

2021-01-27T22:49:07.778Z,1611787747.778 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T22:49:07.929Z,1611787747.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:08.179Z,1611787748.179 [Micromodem](INFO): Nmea in: $CADRQ,224909,1,10,0,64,2*71

2021-01-27T22:49:08.181Z,1611787748.181 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,2772BBE11800*34

2021-01-27T22:49:08.609Z,1611787748.609 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-01-27T22:49:08.611Z,1611787748.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:08.983Z,1611787748.983 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-01-27T22:49:08.983Z,1611787748.983 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2021-01-27T22:49:10.747Z,1611787750.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:11.406Z,1611787751.406 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-01-27T22:49:11.406Z,1611787751.406 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-01-27T22:49:11.807Z,1611787751.807 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,224909.917616,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4B

2021-01-27T22:49:11.807Z,1611787751.807 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,224909.917616,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4B

2021-01-27T22:49:13.466Z,1611787753.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:13.837Z,1611787753.837 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T22:49:14.277Z,1611787754.277 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-27T22:49:14.278Z,1611787754.278 [Micromodem](INFO): Sent 62 bytes from file Logs/20210127T223404/Courier0012.lzma.parts
2021-01-27T22:49:14.278Z,1611787754.278 [Micromodem](INFO): Packets left to send: 0
2021-01-27T22:49:14.694Z,1611787754.694 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127224914.597966,06,3139,34,0136,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,15.5,4.00,08,-1.00,-01,1.38,30,14500,4000*5C

2021-01-27T22:49:14.694Z,1611787754.694 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127224914.597966,06,3139,34,0136,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,15.5,4.00,08,-1.00,-01,1.38,30,14500,4000*5C

2021-01-27T22:49:14.882Z,1611787754.882 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T22:49:14.882Z,1611787754.882 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T22:49:14.882Z,1611787754.882 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T22:49:14.882Z,1611787754.882 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T22:49:14.882Z,1611787754.882 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T22:49:16.331Z,1611787756.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:18.878Z,1611787758.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:19.645Z,1611787759.645 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:20.032Z,1611787760.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:20.843Z,1611787760.843 [Micromodem](INFO): Nmea in: $SNTTA,0.052111,,,,224921.40*4C

2021-01-27T22:49:20.892Z,1611787760.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.000000 m, bearing: 76.069750 deg, deltaT: 15.164878 s, approachRate: -0.557868 m/s, LOS rate: 0.614935 deg/s, posRepo size: 4
2021-01-27T22:49:20.894Z,1611787760.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.000000 m,
      bearing: 76.069750 deg,
      approachRate: -0.557868 m/s,
      LOS rate: 0.614935 deg/s,
      cmd update: 2.459742 deg/s,
      cmd heading: 330.570580 deg,
      new cmd heading: 325.906272 deg.

2021-01-27T22:49:23.299Z,1611787763.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:24.067Z,1611787764.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:24.468Z,1611787764.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:25.315Z,1611787765.315 [Micromodem](INFO): Nmea in: $SNTTA,0.050074,,,,224925.83*47

2021-01-27T22:49:25.335Z,1611787765.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 74.592967 deg, deltaT: 4.476074 s, approachRate: -0.683634 m/s, LOS rate: -0.329928 deg/s, posRepo size: 4
2021-01-27T22:49:25.337Z,1611787765.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 74.592967 deg,
      approachRate: -0.683634 m/s,
      LOS rate: -0.329928 deg/s,
      cmd update: -1.319712 deg/s,
      cmd heading: 341.580520 deg,
      new cmd heading: 342.570362 deg.

2021-01-27T22:49:27.783Z,1611787767.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:28.506Z,1611787768.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:28.918Z,1611787768.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:29.793Z,1611787769.793 [Micromodem](INFO): Nmea in: $SNTTA,0.048522,,,,224930.26*43

2021-01-27T22:49:29.839Z,1611787769.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.599998 m, bearing: 88.773055 deg, deltaT: 4.398085 s, approachRate: -0.532051 m/s, LOS rate: 3.224150 deg/s, posRepo size: 4
2021-01-27T22:49:29.841Z,1611787769.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 88.773055 deg,
      approachRate: -0.532051 m/s,
      LOS rate: 3.224150 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 335.776028 deg,
      new cmd heading: 335.105785 deg.

2021-01-27T22:49:32.170Z,1611787772.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:32.958Z,1611787772.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:33.356Z,1611787773.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:34.194Z,1611787774.194 [Micromodem](INFO): Nmea in: $SNTTA,0.047587,,0.059612,,224934.72*51

2021-01-27T22:49:34.209Z,1611787774.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 338.441119 deg, deltaT: 4.527428 s, approachRate: -0.265050 m/s, LOS rate: -24.369674 deg/s, posRepo size: 4
2021-01-27T22:49:34.210Z,1611787774.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.369674 deg/s. Setting heading cmd to target bearing of 338.441119deg and heading rate command to 0 deg/s.
2021-01-27T22:49:36.650Z,1611787776.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:37.394Z,1611787777.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:37.804Z,1611787777.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:38.653Z,1611787778.653 [Micromodem](INFO): Nmea in: $SNTTA,0.047761,,,,224939.15*40

2021-01-27T22:49:38.678Z,1611787778.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.300003 m, bearing: 315.902369 deg, deltaT: 4.358009 s, approachRate: 0.206517 m/s, LOS rate: -5.171800 deg/s, posRepo size: 4
2021-01-27T22:49:38.681Z,1611787778.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 315.902369 deg,
      approachRate: 0.206517 m/s,
      LOS rate: -5.171800 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 338.441119 deg,
      new cmd heading: 338.441119 deg.

2021-01-27T22:49:39.128Z,1611787779.128 [Radio_Surface](INFO): Powering down
2021-01-27T22:49:41.070Z,1611787781.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:41.842Z,1611787781.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:41.846Z,1611787781.846 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T22:49:42.275Z,1611787782.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:42.848Z,1611787782.848 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-01-27T22:49:43.105Z,1611787783.105 [Micromodem](INFO): Nmea in: $SNTTA,0.047212,,,,224943.60*4E

2021-01-27T22:49:43.127Z,1611787783.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.800003 m, bearing: 330.802591 deg, deltaT: 4.562307 s, approachRate: -0.328781 m/s, LOS rate: 3.265940 deg/s, posRepo size: 4
2021-01-27T22:49:43.129Z,1611787783.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.800003 m,
      bearing: 330.802591 deg,
      approachRate: -0.328781 m/s,
      LOS rate: 3.265940 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 283.693565 deg,
      new cmd heading: 279.512321 deg.

2021-01-27T22:49:45.537Z,1611787785.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:46.312Z,1611787786.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:46.741Z,1611787786.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:47.557Z,1611787787.557 [Micromodem](INFO): Nmea in: $SNTTA,0.047598,,,,224948.07*41

2021-01-27T22:49:47.583Z,1611787787.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 49.129605 deg, deltaT: 4.376492 s, approachRate: 0.137096 m/s, LOS rate: 17.897215 deg/s, posRepo size: 4
2021-01-27T22:49:47.586Z,1611787787.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.897215 deg/s. Setting heading cmd to target bearing of 49.129605deg and heading rate command to 0 deg/s.
2021-01-27T22:49:48.778Z,1611787788.778 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T22:49:50.025Z,1611787790.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:50.774Z,1611787790.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:51.170Z,1611787791.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:52.001Z,1611787792.001 [Micromodem](INFO): Nmea in: $SNTTA,0.048319,,,,224952.53*4B

2021-01-27T22:49:52.036Z,1611787792.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.599998 m, bearing: 1.360716 deg, deltaT: 4.482423 s, approachRate: 0.267712 m/s, LOS rate: -10.656934 deg/s, posRepo size: 4
2021-01-27T22:49:52.038Z,1611787792.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 1.360716 deg,
      approachRate: 0.267712 m/s,
      LOS rate: -10.656934 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 49.129605 deg,
      new cmd heading: 49.129605 deg.

2021-01-27T22:49:54.289Z,1611787794.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:54.940Z,1611787794.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:55.296Z,1611787795.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:49:55.789Z,1611787795.789 [CTD_Seabird](ERROR): Failed to parse device response: .86
2021-01-27T22:49:56.167Z,1611787796.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.100006 m, bearing: 331.540114 deg, deltaT: 4.154834 s, approachRate: 0.361027 m/s, LOS rate: -7.177326 deg/s, posRepo size: 4
2021-01-27T22:49:56.175Z,1611787796.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.100006 m,
      bearing: 331.540114 deg,
      approachRate: 0.361027 m/s,
      LOS rate: -7.177326 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 359.272580 deg,
      new cmd heading: 354.733544 deg.

2021-01-27T22:49:56.529Z,1611787796.529 [Micromodem](INFO): Nmea in: $SNTTA,0.049313,,,,224956.78*4D

2021-01-27T22:49:58.571Z,1611787798.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:49:59.352Z,1611787799.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:49:59.780Z,1611787799.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:00.603Z,1611787800.603 [Micromodem](INFO): Nmea in: $SNTTA,0.049932,,,,225001.11*41

2021-01-27T22:50:00.635Z,1611787800.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 51.193975 deg, deltaT: 4.370763 s, approachRate: 0.192185 m/s, LOS rate: 18.224242 deg/s, posRepo size: 4
2021-01-27T22:50:00.652Z,1611787800.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.224242 deg/s. Setting heading cmd to target bearing of 51.193975deg and heading rate command to 0 deg/s.
2021-01-27T22:50:03.029Z,1611787803.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:03.835Z,1611787803.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:04.188Z,1611787804.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:05.020Z,1611787805.020 [Micromodem](INFO): Nmea in: $SNTTA,0.050882,,,,225005.59*4B

2021-01-27T22:50:05.069Z,1611787805.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 55.065982 deg, deltaT: 4.530260 s, approachRate: 0.304618 m/s, LOS rate: 0.854699 deg/s, posRepo size: 4
2021-01-27T22:50:05.071Z,1611787805.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.320000 m,
      bearing: 55.065982 deg,
      approachRate: 0.304618 m/s,
      LOS rate: 0.854699 deg/s,
      cmd update: 3.418794 deg/s,
      cmd heading: 51.193975 deg,
      new cmd heading: 51.193975 deg.

2021-01-27T22:50:07.453Z,1611787807.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:08.239Z,1611787808.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:08.696Z,1611787808.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:09.479Z,1611787809.479 [Micromodem](INFO): Nmea in: $SNTTA,0.051922,,0.079667,,225010.00*5E

2021-01-27T22:50:09.499Z,1611787809.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.939995 m, bearing: 18.841120 deg, deltaT: 4.391660 s, approachRate: 0.368880 m/s, LOS rate: -8.248558 deg/s, posRepo size: 4
2021-01-27T22:50:09.502Z,1611787809.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.939995 m,
      bearing: 18.841120 deg,
      approachRate: 0.368880 m/s,
      LOS rate: -8.248558 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 66.224329 deg,
      new cmd heading: 67.640048 deg.

2021-01-27T22:50:11.937Z,1611787811.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:12.687Z,1611787812.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:13.080Z,1611787813.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:13.925Z,1611787813.925 [Micromodem](INFO): Nmea in: $SNTTA,0.052596,,,,225014.44*4D

2021-01-27T22:50:13.961Z,1611787813.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.900009 m, bearing: 51.408758 deg, deltaT: 4.411293 s, approachRate: 0.217627 m/s, LOS rate: 7.382787 deg/s, posRepo size: 4
2021-01-27T22:50:13.965Z,1611787813.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.900009 m,
      bearing: 51.408758 deg,
      approachRate: 0.217627 m/s,
      LOS rate: 7.382787 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 13.288823 deg,
      new cmd heading: 7.728179 deg.

2021-01-27T22:50:16.003Z,1611787816.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:16.757Z,1611787816.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:16.887Z,1611787816.887 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-01-27T22:50:17.124Z,1611787817.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:17.991Z,1611787817.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.900009 m, bearing: 70.919282 deg, deltaT: 4.076032 s, approachRate: 0.000000 m/s, LOS rate: 4.786647 deg/s, posRepo size: 4
2021-01-27T22:50:17.997Z,1611787817.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.900009 m,
      bearing: 70.919282 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.786647 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 62.135377 deg,
      new cmd heading: 67.216033 deg.

2021-01-27T22:50:18.341Z,1611787818.341 [Micromodem](INFO): Nmea in: $SNTTA,0.053321,,,,225018.60*4C

2021-01-27T22:50:20.375Z,1611787820.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:21.162Z,1611787821.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:21.576Z,1611787821.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:22.402Z,1611787822.402 [Micromodem](INFO): Nmea in: $SNTTA,0.053689,,0.063023,,225022.92*55

2021-01-27T22:50:22.418Z,1611787822.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.520004 m, bearing: 352.366017 deg, deltaT: 4.472800 s, approachRate: 0.362188 m/s, LOS rate: -17.562435 deg/s, posRepo size: 4
2021-01-27T22:50:22.418Z,1611787822.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.562435 deg/s. Setting heading cmd to target bearing of 352.366017deg and heading rate command to 0 deg/s.
2021-01-27T22:50:24.862Z,1611787824.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:25.608Z,1611787825.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:26.008Z,1611787826.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:26.849Z,1611787826.849 [Micromodem](INFO): Nmea in: $SNTTA,0.053632,,,,225027.37*45

2021-01-27T22:50:26.929Z,1611787826.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 79.531768 deg, deltaT: 4.389070 s, approachRate: -0.041011 m/s, LOS rate: 19.859730 deg/s, posRepo size: 4
2021-01-27T22:50:26.930Z,1611787826.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.859730 deg/s. Setting heading cmd to target bearing of 79.531768deg and heading rate command to 0 deg/s.
2021-01-27T22:50:29.254Z,1611787829.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:30.046Z,1611787830.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:30.448Z,1611787830.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:31.289Z,1611787831.289 [Micromodem](INFO): Nmea in: $SNTTA,0.053074,,,,225031.81*4B

2021-01-27T22:50:31.319Z,1611787831.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 122.526682 deg, deltaT: 4.477599 s, approachRate: -0.201001 m/s, LOS rate: 9.602225 deg/s, posRepo size: 4
2021-01-27T22:50:31.321Z,1611787831.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.440002 m,
      bearing: 122.526682 deg,
      approachRate: -0.201001 m/s,
      LOS rate: 9.602225 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 79.531768 deg,
      new cmd heading: 79.531768 deg.

2021-01-27T22:50:33.755Z,1611787833.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:34.495Z,1611787834.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:34.902Z,1611787834.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:35.745Z,1611787835.745 [Micromodem](INFO): Nmea in: $SNTTA,0.052213,,,,225036.25*40

2021-01-27T22:50:35.824Z,1611787835.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.240005 m, bearing: 115.401920 deg, deltaT: 4.415132 s, approachRate: -0.271792 m/s, LOS rate: -1.613714 deg/s, posRepo size: 4
2021-01-27T22:50:35.826Z,1611787835.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.240005 m,
      bearing: 115.401920 deg,
      approachRate: -0.271792 m/s,
      LOS rate: -1.613714 deg/s,
      cmd update: -6.454857 deg/s,
      cmd heading: 132.561401 deg,
      new cmd heading: 138.470538 deg.

2021-01-27T22:50:38.142Z,1611787838.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:38.942Z,1611787838.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:39.344Z,1611787839.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:40.182Z,1611787840.182 [Micromodem](INFO): Nmea in: $SNTTA,0.050903,,,,225040.70*49

2021-01-27T22:50:40.206Z,1611787840.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.139999 m, bearing: 117.866211 deg, deltaT: 4.492677 s, approachRate: -0.467429 m/s, LOS rate: 0.548513 deg/s, posRepo size: 4
2021-01-27T22:50:40.209Z,1611787840.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.139999 m,
      bearing: 117.866211 deg,
      approachRate: -0.467429 m/s,
      LOS rate: 0.548513 deg/s,
      cmd update: 2.194052 deg/s,
      cmd heading: 103.665078 deg,
      new cmd heading: 101.066940 deg.

2021-01-27T22:50:42.648Z,1611787842.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:43.386Z,1611787843.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:43.795Z,1611787843.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:44.649Z,1611787844.649 [Micromodem](INFO): Nmea in: $SNTTA,0.049283,,0.050458,,225045.15*56

2021-01-27T22:50:44.726Z,1611787844.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.680000 m, bearing: 117.442644 deg, deltaT: 4.396722 s, approachRate: -0.559508 m/s, LOS rate: -0.096337 deg/s, posRepo size: 4
2021-01-27T22:50:44.733Z,1611787844.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.680000 m,
      bearing: 117.442644 deg,
      approachRate: -0.559508 m/s,
      LOS rate: -0.096337 deg/s,
      cmd update: -0.385348 deg/s,
      cmd heading: 113.311771 deg,
      new cmd heading: 114.465423 deg.

2021-01-27T22:50:47.082Z,1611787847.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:47.848Z,1611787847.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:48.232Z,1611787848.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:49.066Z,1611787849.066 [Micromodem](INFO): Nmea in: $SNTTA,0.047571,,,,225049.61*4F

2021-01-27T22:50:49.090Z,1611787849.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.159996 m, bearing: 116.346890 deg, deltaT: 4.453475 s, approachRate: -0.565851 m/s, LOS rate: -0.246045 deg/s, posRepo size: 4
2021-01-27T22:50:49.093Z,1611787849.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.159996 m,
      bearing: 116.346890 deg,
      approachRate: -0.565851 m/s,
      LOS rate: -0.246045 deg/s,
      cmd update: -0.984178 deg/s,
      cmd heading: 111.589477 deg,
      new cmd heading: 111.427487 deg.

2021-01-27T22:50:51.470Z,1611787851.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:52.262Z,1611787852.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:52.680Z,1611787852.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:53.505Z,1611787853.505 [Micromodem](INFO): Nmea in: $SNTTA,0.045822,,,,225054.02*4F

2021-01-27T22:50:53.550Z,1611787853.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.520004 m, bearing: 117.640474 deg, deltaT: 4.419192 s, approachRate: -0.597392 m/s, LOS rate: 0.292719 deg/s, posRepo size: 4
2021-01-27T22:50:53.552Z,1611787853.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.520004 m,
      bearing: 117.640474 deg,
      approachRate: -0.597392 m/s,
      LOS rate: 0.292719 deg/s,
      cmd update: 1.170878 deg/s,
      cmd heading: 107.240200 deg,
      new cmd heading: 106.786419 deg.

2021-01-27T22:50:55.942Z,1611787855.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:50:56.716Z,1611787856.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:50:57.116Z,1611787857.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:50:57.957Z,1611787857.957 [Micromodem](INFO): Nmea in: $SNTTA,0.043972,,,,225058.47*40

2021-01-27T22:50:58.030Z,1611787858.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.759995 m, bearing: 117.939677 deg, deltaT: 4.472047 s, approachRate: -0.617169 m/s, LOS rate: 0.066905 deg/s, posRepo size: 4
2021-01-27T22:50:58.037Z,1611787858.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.759995 m,
      bearing: 117.939677 deg,
      approachRate: -0.617169 m/s,
      LOS rate: 0.066905 deg/s,
      cmd update: 0.267621 deg/s,
      cmd heading: 112.471763 deg,
      new cmd heading: 113.025568 deg.

2021-01-27T22:51:00.363Z,1611787860.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:01.163Z,1611787861.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:01.560Z,1611787861.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:02.393Z,1611787862.393 [Micromodem](INFO): Nmea in: $SNTTA,0.042372,,,,225102.92*4D

2021-01-27T22:51:02.409Z,1611787862.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.940002 m, bearing: 119.897824 deg, deltaT: 4.474755 s, approachRate: -0.630200 m/s, LOS rate: 0.437599 deg/s, posRepo size: 4
2021-01-27T22:51:02.410Z,1611787862.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.940002 m,
      bearing: 119.897824 deg,
      approachRate: -0.630200 m/s,
      LOS rate: 0.437599 deg/s,
      cmd update: 1.750395 deg/s,
      cmd heading: 113.669255 deg,
      new cmd heading: 113.769979 deg.

2021-01-27T22:51:04.825Z,1611787864.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:05.604Z,1611787865.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:06.004Z,1611787866.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:06.849Z,1611787866.849 [Micromodem](INFO): Nmea in: $SNTTA,0.040291,,0.041434,,225107.36*50

2021-01-27T22:51:06.907Z,1611787866.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.240002 m, bearing: 121.072439 deg, deltaT: 4.395241 s, approachRate: -0.614301 m/s, LOS rate: 0.267247 deg/s, posRepo size: 4
2021-01-27T22:51:06.913Z,1611787866.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.240002 m,
      bearing: 121.072439 deg,
      approachRate: -0.614301 m/s,
      LOS rate: 0.267247 deg/s,
      cmd update: 1.068988 deg/s,
      cmd heading: 121.369875 deg,
      new cmd heading: 122.202182 deg.

2021-01-27T22:51:09.339Z,1611787869.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:10.054Z,1611787870.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:10.466Z,1611787870.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:11.285Z,1611787871.285 [Micromodem](INFO): Nmea in: $SNTTA,0.038403,,,,225111.81*41

2021-01-27T22:51:11.315Z,1611787871.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.360001 m, bearing: 119.288994 deg, deltaT: 4.475037 s, approachRate: -0.643570 m/s, LOS rate: -0.398532 deg/s, posRepo size: 4
2021-01-27T22:51:11.321Z,1611787871.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.360001 m,
      bearing: 119.288994 deg,
      approachRate: -0.643570 m/s,
      LOS rate: -0.398532 deg/s,
      cmd update: -1.594127 deg/s,
      cmd heading: 126.153674 deg,
      new cmd heading: 126.590724 deg.

2021-01-27T22:51:13.764Z,1611787873.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:14.491Z,1611787874.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:14.893Z,1611787874.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:15.753Z,1611787875.753 [Micromodem](INFO): Nmea in: $SNTTA,0.036608,,,,225116.25*4F

2021-01-27T22:51:15.819Z,1611787875.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.720005 m, bearing: 119.838674 deg, deltaT: 4.425942 s, approachRate: -0.596482 m/s, LOS rate: 0.124195 deg/s, posRepo size: 4
2021-01-27T22:51:15.826Z,1611787875.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.720005 m,
      bearing: 119.838674 deg,
      approachRate: -0.596482 m/s,
      LOS rate: 0.124195 deg/s,
      cmd update: 0.496780 deg/s,
      cmd heading: 119.127464 deg,
      new cmd heading: 118.321854 deg.

2021-01-27T22:51:18.150Z,1611787878.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:18.934Z,1611787878.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:19.344Z,1611787879.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:20.181Z,1611787880.181 [Micromodem](INFO): Nmea in: $SNTTA,0.034676,,,,225120.69*49

2021-01-27T22:51:20.196Z,1611787880.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.719997 m, bearing: 121.314815 deg, deltaT: 4.483852 s, approachRate: -0.669069 m/s, LOS rate: 0.329213 deg/s, posRepo size: 4
2021-01-27T22:51:20.198Z,1611787880.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.719997 m,
      bearing: 121.314815 deg,
      approachRate: -0.669069 m/s,
      LOS rate: 0.329213 deg/s,
      cmd update: 1.316850 deg/s,
      cmd heading: 121.356120 deg,
      new cmd heading: 121.552539 deg.

2021-01-27T22:51:22.594Z,1611787882.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:23.374Z,1611787883.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:23.778Z,1611787883.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:24.632Z,1611787884.632 [Micromodem](INFO): Nmea in: $SNTTA,0.033108,,,,225125.13*48

2021-01-27T22:51:24.683Z,1611787884.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.900002 m, bearing: 122.899651 deg, deltaT: 4.411723 s, approachRate: -0.639205 m/s, LOS rate: 0.359233 deg/s, posRepo size: 4
2021-01-27T22:51:24.691Z,1611787884.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.900002 m,
      bearing: 122.899651 deg,
      approachRate: -0.639205 m/s,
      LOS rate: 0.359233 deg/s,
      cmd update: 1.436932 deg/s,
      cmd heading: 127.181483 deg,
      new cmd heading: 127.785578 deg.

2021-01-27T22:51:27.054Z,1611787887.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:27.818Z,1611787887.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:28.242Z,1611787888.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:29.065Z,1611787889.065 [Micromodem](INFO): Nmea in: $SNTTA,0.030804,,,,225129.58*4D

2021-01-27T22:51:29.089Z,1611787889.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.019997 m, bearing: 121.423196 deg, deltaT: 4.449103 s, approachRate: -0.647323 m/s, LOS rate: -0.331854 deg/s, posRepo size: 4
2021-01-27T22:51:29.091Z,1611787889.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.019997 m,
      bearing: 121.423196 deg,
      approachRate: -0.647323 m/s,
      LOS rate: -0.331854 deg/s,
      cmd update: -1.327418 deg/s,
      cmd heading: 133.579994 deg,
      new cmd heading: 134.172924 deg.

2021-01-27T22:51:31.470Z,1611787891.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:32.262Z,1611787892.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:32.697Z,1611787892.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:33.510Z,1611787893.510 [Micromodem](INFO): Nmea in: $SNTTA,0.029155,,0.136345,,225134.02*53

2021-01-27T22:51:33.531Z,1611787893.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.500000 m, bearing: 120.936450 deg, deltaT: 4.431198 s, approachRate: -0.568694 m/s, LOS rate: -0.109845 deg/s, posRepo size: 4
2021-01-27T22:51:33.533Z,1611787893.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.500000 m,
      bearing: 120.936450 deg,
      approachRate: -0.568694 m/s,
      LOS rate: -0.109845 deg/s,
      cmd update: -0.439382 deg/s,
      cmd heading: 127.703200 deg,
      new cmd heading: 127.136007 deg.

2021-01-27T22:51:35.937Z,1611787895.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:36.731Z,1611787896.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:37.120Z,1611787897.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:37.942Z,1611787897.942 [Micromodem](INFO): Nmea in: $SNTTA,0.026765,,,,225138.49*42

2021-01-27T22:51:38.014Z,1611787898.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.959999 m, bearing: 120.561704 deg, deltaT: 4.425155 s, approachRate: -0.799972 m/s, LOS rate: -0.084685 deg/s, posRepo size: 4
2021-01-27T22:51:38.015Z,1611787898.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m.
2021-01-27T22:51:38.017Z,1611787898.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.959999 m,
      bearing: 120.561704 deg,
      approachRate: -0.799972 m/s,
      LOS rate: -0.084685 deg/s,
      cmd update: -0.338741 deg/s,
      cmd heading: 125.756997 deg,
      new cmd heading: 125.545745 deg.

2021-01-27T22:51:38.358Z,1611787898.358 [PowerOnly](INFO): Powering up loadControl
2021-01-27T22:51:40.061Z,1611787900.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:40.794Z,1611787900.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:41.195Z,1611787901.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:41.948Z,1611787901.948 [DDM](ERROR): Could not parse whisker state
2021-01-27T22:51:42.013Z,1611787902.013 [Micromodem](INFO): Nmea in: $SNTTA,0.025435,,,,225142.55*47

2021-01-27T22:51:42.078Z,1611787902.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 119.417088 deg, deltaT: 4.108064 s, approachRate: -0.496584 m/s, LOS rate: -0.278627 deg/s, posRepo size: 4
2021-01-27T22:51:42.078Z,1611787902.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m.
2021-01-27T22:51:42.085Z,1611787902.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.920002 m,
      bearing: 119.417088 deg,
      approachRate: -0.496584 m/s,
      LOS rate: -0.278627 deg/s,
      cmd update: -1.114507 deg/s,
      cmd heading: 124.366887 deg,
      new cmd heading: 124.217674 deg.

2021-01-27T22:51:44.430Z,1611787904.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:45.218Z,1611787905.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:45.633Z,1611787905.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:46.445Z,1611787906.445 [Micromodem](INFO): Nmea in: $SNTTA,0.022906,,,,225146.98*48

2021-01-27T22:51:46.498Z,1611787906.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 116.587491 deg, deltaT: 4.429659 s, approachRate: -0.853340 m/s, LOS rate: -0.638784 deg/s, posRepo size: 4
2021-01-27T22:51:46.499Z,1611787906.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.14 m.
2021-01-27T22:51:46.501Z,1611787906.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.139996 m,
      bearing: 116.587491 deg,
      approachRate: -0.853340 m/s,
      LOS rate: -0.638784 deg/s,
      cmd update: -2.555138 deg/s,
      cmd heading: 119.429855 deg,
      new cmd heading: 118.948967 deg.

2021-01-27T22:51:48.895Z,1611787908.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:49.742Z,1611787909.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:50.108Z,1611787910.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:50.915Z,1611787910.915 [Micromodem](INFO): Nmea in: $SNTTA,0.020869,,,,225151.50*40

2021-01-27T22:51:51.025Z,1611787911.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 116.397598 deg, deltaT: 4.437960 s, approachRate: -0.689505 m/s, LOS rate: -0.042788 deg/s, posRepo size: 4
2021-01-27T22:51:51.025Z,1611787911.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.08 m.
2021-01-27T22:51:51.027Z,1611787911.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.080000 m,
      bearing: 116.397598 deg,
      approachRate: -0.689505 m/s,
      LOS rate: -0.042788 deg/s,
      cmd update: -0.171153 deg/s,
      cmd heading: 108.080855 deg,
      new cmd heading: 106.773174 deg.

2021-01-27T22:51:53.338Z,1611787913.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:54.134Z,1611787914.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:54.532Z,1611787914.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:55.389Z,1611787915.389 [Micromodem](INFO): Nmea in: $SNTTA,0.018937,,0.038754,,225155.89*52

2021-01-27T22:51:55.412Z,1611787915.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 117.822116 deg, deltaT: 4.577248 s, approachRate: -0.629199 m/s, LOS rate: 0.311217 deg/s, posRepo size: 4
2021-01-27T22:51:55.413Z,1611787915.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.20 m.
2021-01-27T22:51:55.414Z,1611787915.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 117.822116 deg,
      approachRate: -0.629199 m/s,
      LOS rate: 0.311217 deg/s,
      cmd update: 1.244868 deg/s,
      cmd heading: 107.297391 deg,
      new cmd heading: 107.241651 deg.

2021-01-27T22:51:57.822Z,1611787917.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:51:58.570Z,1611787918.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:51:58.979Z,1611787918.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:51:59.889Z,1611787919.889 [Micromodem](INFO): Nmea in: $SNTTA,0.017028,,,,225200.33*4B

2021-01-27T22:51:59.924Z,1611787919.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 119.940936 deg, deltaT: 4.307768 s, approachRate: -0.682489 m/s, LOS rate: 0.491860 deg/s, posRepo size: 4
2021-01-27T22:51:59.924Z,1611787919.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.26 m.
2021-01-27T22:51:59.926Z,1611787919.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 119.940936 deg,
      approachRate: -0.682489 m/s,
      LOS rate: 0.491860 deg/s,
      cmd update: 1.967441 deg/s,
      cmd heading: 112.660030 deg,
      new cmd heading: 113.319519 deg.

2021-01-27T22:52:02.230Z,1611787922.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:03.018Z,1611787923.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:03.443Z,1611787923.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:04.269Z,1611787924.269 [Micromodem](INFO): Nmea in: $SNTTA,0.015212,,0.024049,,225204.78*5C

2021-01-27T22:52:04.294Z,1611787924.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 122.937354 deg, deltaT: 4.481893 s, approachRate: -0.602423 m/s, LOS rate: 0.668561 deg/s, posRepo size: 4
2021-01-27T22:52:04.295Z,1611787924.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.56 m.
2021-01-27T22:52:04.297Z,1611787924.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 122.937354 deg,
      approachRate: -0.602423 m/s,
      LOS rate: 0.668561 deg/s,
      cmd update: 2.674243 deg/s,
      cmd heading: 121.477829 deg,
      new cmd heading: 122.301553 deg.

2021-01-27T22:52:06.734Z,1611787926.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:07.455Z,1611787927.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:07.872Z,1611787927.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:08.665Z,1611787928.665 [DDM](FAULT): Failed to extend whisker before timeout.
2021-01-27T22:52:08.665Z,1611787928.665 [DDM] Hardware Fault, FailCount= 1
2021-01-27T22:52:08.665Z,1611787928.665 [DDM](ERROR): Hardware Fault
2021-01-27T22:52:08.687Z,1611787928.687 [Micromodem](INFO): Nmea in: $SNTTA,0.013398,,0.034554,,225209.21*50

2021-01-27T22:52:08.873Z,1611787928.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 125.641466 deg, deltaT: 4.409570 s, approachRate: -0.612305 m/s, LOS rate: 0.613237 deg/s, posRepo size: 4
2021-01-27T22:52:08.873Z,1611787928.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 19.86 m.
2021-01-27T22:52:08.875Z,1611787928.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.860001 m,
      bearing: 125.641466 deg,
      approachRate: -0.612305 m/s,
      LOS rate: 0.613237 deg/s,
      cmd update: 2.452949 deg/s,
      cmd heading: 133.270163 deg,
      new cmd heading: 134.840058 deg.

2021-01-27T22:52:08.984Z,1611787928.984 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T22:52:09.037Z,1611787929.037 [DDM](INFO): Powering down
2021-01-27T22:52:10.067Z,1611787930.067 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T22:52:10.067Z,1611787930.067 [DDM] No Fault, FailCount= 1
2021-01-27T22:52:11.086Z,1611787931.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:11.885Z,1611787931.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:12.274Z,1611787932.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:13.109Z,1611787933.109 [Micromodem](INFO): Nmea in: $SNTTA,0.011551,0.061058,,,225213.65*53

2021-01-27T22:52:13.151Z,1611787933.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.100002 m, bearing: 126.928014 deg, deltaT: 4.490902 s, approachRate: -0.614576 m/s, LOS rate: 0.286479 deg/s, posRepo size: 4
2021-01-27T22:52:13.152Z,1611787933.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.10 m.
2021-01-27T22:52:13.154Z,1611787933.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.100002 m,
      bearing: 126.928014 deg,
      approachRate: -0.614576 m/s,
      LOS rate: 0.286479 deg/s,
      cmd update: 1.145915 deg/s,
      cmd heading: 144.286123 deg,
      new cmd heading: 145.205527 deg.

2021-01-27T22:52:14.289Z,1611787934.289 [DDM](INFO): Powering up
2021-01-27T22:52:14.290Z,1611787934.290 [DDM](DEBUG): Initializing DDM.
2021-01-27T22:52:15.527Z,1611787935.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:16.318Z,1611787936.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:16.746Z,1611787936.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:17.549Z,1611787937.549 [Micromodem](INFO): Nmea in: $SNTTA,0.009728,,,,225218.08*42

2021-01-27T22:52:17.637Z,1611787937.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 127.307595 deg, deltaT: 4.405095 s, approachRate: -0.612927 m/s, LOS rate: 0.086169 deg/s, posRepo size: 4
2021-01-27T22:52:17.637Z,1611787937.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.40 m.
2021-01-27T22:52:17.639Z,1611787937.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 127.307595 deg,
      approachRate: -0.612927 m/s,
      LOS rate: 0.086169 deg/s,
      cmd update: 0.344674 deg/s,
      cmd heading: 149.301334 deg,
      new cmd heading: 149.850512 deg.

2021-01-27T22:52:20.062Z,1611787940.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:20.757Z,1611787940.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:21.168Z,1611787941.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:22.009Z,1611787942.009 [Micromodem](INFO): Nmea in: $SNTTA,0.007877,,,,225222.51*4C

2021-01-27T22:52:22.063Z,1611787942.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.579999 m, bearing: 125.088262 deg, deltaT: 4.454821 s, approachRate: -0.633022 m/s, LOS rate: -0.498187 deg/s, posRepo size: 4
2021-01-27T22:52:22.064Z,1611787942.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 11.58 m.
2021-01-27T22:52:22.066Z,1611787942.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.579999 m,
      bearing: 125.088262 deg,
      approachRate: -0.633022 m/s,
      LOS rate: -0.498187 deg/s,
      cmd update: -1.992748 deg/s,
      cmd heading: 150.840552 deg,
      new cmd heading: 150.993793 deg.

2021-01-27T22:52:23.642Z,1611787943.642 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T22:52:24.415Z,1611787944.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:25.210Z,1611787945.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:25.632Z,1611787945.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:26.441Z,1611787946.441 [Micromodem](INFO): Nmea in: $SNTTA,0.006112,,0.014707,,225226.97*52

2021-01-27T22:52:26.483Z,1611787946.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 123.148748 deg, deltaT: 4.423179 s, approachRate: -0.583291 m/s, LOS rate: -0.438489 deg/s, posRepo size: 4
2021-01-27T22:52:26.483Z,1611787946.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 9.00 m.
2021-01-27T22:52:26.485Z,1611787946.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 123.148748 deg,
      approachRate: -0.583291 m/s,
      LOS rate: -0.438489 deg/s,
      cmd update: -1.753955 deg/s,
      cmd heading: 141.999250 deg,
      new cmd heading: 141.147610 deg.

2021-01-27T22:52:28.926Z,1611787948.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:29.647Z,1611787949.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:30.046Z,1611787950.046 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T22:52:30.164Z,1611787950.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:30.909Z,1611787950.909 [Micromodem](INFO): Nmea in: $SNTTA,0.004487,,,,225231.41*4F

2021-01-27T22:52:30.988Z,1611787950.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 117.760466 deg, deltaT: 4.469934 s, approachRate: -0.550344 m/s, LOS rate: -1.205450 deg/s, posRepo size: 4
2021-01-27T22:52:30.989Z,1611787950.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 6.54 m.
2021-01-27T22:52:30.996Z,1611787950.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 117.760466 deg,
      approachRate: -0.550344 m/s,
      LOS rate: -1.205450 deg/s,
      cmd update: -4.821800 deg/s,
      cmd heading: 134.180104 deg,
      new cmd heading: 133.356404 deg.

2021-01-27T22:52:33.330Z,1611787953.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:34.122Z,1611787954.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:34.532Z,1611787954.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:35.369Z,1611787955.369 [Micromodem](INFO): Nmea in: $SNTTA,0.002951,,,,225235.88*4E

2021-01-27T22:52:35.401Z,1611787955.401 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T22:52:35.401Z,1611787955.401 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T22:52:35.401Z,1611787955.401 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T22:52:35.402Z,1611787955.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T22:52:35.402Z,1611787955.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T22:52:35.402Z,1611787955.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 
2021-01-27T22:52:35.402Z,1611787955.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T22:52:35.402Z,1611787955.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T22:52:35.402Z,1611787955.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T22:52:35.405Z,1611787955.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 108.822371 deg, deltaT: 4.467736 s, approachRate: -0.496896 m/s, LOS rate: -2.000587 deg/s, posRepo size: 4
2021-01-27T22:52:35.405Z,1611787955.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.32 m.
2021-01-27T22:52:35.407Z,1611787955.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 108.822371 deg,
      approachRate: -0.496896 m/s,
      LOS rate: -2.000587 deg/s,
      cmd update: -8.002348 deg/s,
      cmd heading: 112.610486 deg,
      new cmd heading: 110.594926 deg.

2021-01-27T22:52:35.802Z,1611787955.802 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T225235: (41.551998, -70.709610)
2021-01-27T22:52:35.802Z,1611787955.802 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T22:52:35.802Z,1611787955.802 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T22:52:35.802Z,1611787955.802 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T22:52:35.802Z,1611787955.802 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T22:52:35.802Z,1611787955.802 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T22:52:35.803Z,1611787955.803 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T22:52:35.803Z,1611787955.803 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T22:52:35.803Z,1611787955.803 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T22:52:37.824Z,1611787957.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:38.570Z,1611787958.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:38.975Z,1611787958.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:39.817Z,1611787959.817 [Micromodem](INFO): Nmea in: $SNTTA,0.002218,,,,225240.33*4A

2021-01-27T22:52:39.864Z,1611787959.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 108.617063 deg, deltaT: 4.397585 s, approachRate: -0.259233 m/s, LOS rate: -0.046687 deg/s, posRepo size: 4
2021-01-27T22:52:39.865Z,1611787959.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 3.18 m.
2021-01-27T22:52:39.867Z,1611787959.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 108.617063 deg,
      approachRate: -0.259233 m/s,
      LOS rate: -0.046687 deg/s,
      cmd update: -0.186747 deg/s,
      cmd heading: 77.336769 deg,
      new cmd heading: 73.579515 deg.

2021-01-27T22:52:41.951Z,1611787961.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:42.623Z,1611787962.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:43.024Z,1611787963.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:43.853Z,1611787963.853 [Micromodem](INFO): Nmea in: $SNTTA,0.003063,,,,225244.38*4A

2021-01-27T22:52:43.913Z,1611787963.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 80.375877 deg, deltaT: 4.044786 s, approachRate: 0.281844 m/s, LOS rate: -6.982121 deg/s, posRepo size: 4
2021-01-27T22:52:43.914Z,1611787963.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.32 m.
2021-01-27T22:52:43.916Z,1611787963.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 80.375877 deg,
      approachRate: 0.281844 m/s,
      LOS rate: -6.982121 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 76.581439 deg,
      new cmd heading: 76.492885 deg.

2021-01-27T22:52:46.263Z,1611787966.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:47.054Z,1611787967.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:47.456Z,1611787967.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:48.289Z,1611787968.289 [Micromodem](INFO): Nmea in: $SNTTA,0.004324,,,,225248.81*43

2021-01-27T22:52:48.311Z,1611787968.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 29.756812 deg, deltaT: 4.473377 s, approachRate: 0.456031 m/s, LOS rate: -11.315626 deg/s, posRepo size: 4
2021-01-27T22:52:48.312Z,1611787968.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 6.36 m.
2021-01-27T22:52:48.314Z,1611787968.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 29.756812 deg,
      approachRate: 0.456031 m/s,
      LOS rate: -11.315626 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 23.093082 deg,
      new cmd heading: 18.120041 deg.

2021-01-27T22:52:50.769Z,1611787970.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:51.506Z,1611787971.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:51.900Z,1611787971.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:52.742Z,1611787972.742 [Micromodem](INFO): Nmea in: $SNTTA,0.005813,,,,225253.27*4B

2021-01-27T22:52:52.806Z,1611787972.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.639998 m, bearing: 41.873062 deg, deltaT: 4.440227 s, approachRate: 0.513487 m/s, LOS rate: 2.728746 deg/s, posRepo size: 4
2021-01-27T22:52:52.806Z,1611787972.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 8.64 m.
2021-01-27T22:52:52.807Z,1611787972.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 8.64 m.
2021-01-27T22:52:52.807Z,1611787972.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-27T22:52:52.813Z,1611787972.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 41.873062 deg,
      approachRate: 0.513487 m/s,
      LOS rate: 2.728746 deg/s,
      cmd update: 10.914983 deg/s,
      cmd heading: 329.860060 deg,
      new cmd heading: 324.181563 deg.

2021-01-27T22:52:55.161Z,1611787975.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:52:55.942Z,1611787975.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:52:56.348Z,1611787976.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:52:57.185Z,1611787977.185 [Micromodem](INFO): Nmea in: $SNTTA,0.007160,,,,225257.70*42

2021-01-27T22:52:57.215Z,1611787977.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.859999 m, bearing: 31.000968 deg, deltaT: 4.468793 s, approachRate: 0.496778 m/s, LOS rate: -2.432893 deg/s, posRepo size: 4
2021-01-27T22:52:57.215Z,1611787977.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 10.86 m. Rolling out.
2021-01-27T22:52:57.216Z,1611787977.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-27T22:52:59.666Z,1611787979.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:00.386Z,1611787980.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:00.800Z,1611787980.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:01.649Z,1611787981.649 [Micromodem](INFO): Nmea in: $SNTTA,0.008453,,,,225302.14*4B

2021-01-27T22:53:01.660Z,1611787981.660 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T22:53:01.699Z,1611787981.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 348.800412 deg, deltaT: 4.415945 s, approachRate: 0.448375 m/s, LOS rate: -9.556405 deg/s, posRepo size: 4
2021-01-27T22:53:04.055Z,1611787984.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:04.838Z,1611787984.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:05.241Z,1611787985.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:06.085Z,1611787986.085 [Micromodem](INFO): Nmea in: $SNTTA,0.009718,,,,225306.60*41

2021-01-27T22:53:06.090Z,1611787986.090 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:53:06.107Z,1611787986.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.700000 m, bearing: 314.704163 deg, deltaT: 4.508964 s, approachRate: 0.412512 m/s, LOS rate: -7.561881 deg/s, posRepo size: 4
2021-01-27T22:53:08.493Z,1611787988.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:09.270Z,1611787989.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:09.689Z,1611787989.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:10.525Z,1611787990.525 [Micromodem](INFO): Nmea in: $SNTTA,0.011196,,,,225311.03*4B

2021-01-27T22:53:10.547Z,1611787990.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 343.853853 deg, deltaT: 4.384508 s, approachRate: 0.848442 m/s, LOS rate: 6.648338 deg/s, posRepo size: 4
2021-01-27T22:53:12.525Z,1611787992.525 [PowerOnly](INFO): Powering down loadControl
2021-01-27T22:53:12.967Z,1611787992.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:13.738Z,1611787993.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:14.124Z,1611787994.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:14.946Z,1611787994.946 [Micromodem](INFO): Nmea in: $SNTTA,0.012906,,,,225315.50*4B

2021-01-27T22:53:15.817Z,1611787995.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:17.353Z,1611787997.353 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T22:53:18.597Z,1611787998.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:19.375Z,1611787999.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:19.790Z,1611787999.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:20.641Z,1611788000.641 [Micromodem](INFO): Nmea in: $SNTTA,0.015094,,,,225321.13*4E

2021-01-27T22:53:20.725Z,1611788000.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 330.244127 deg, deltaT: 10.080021 s, approachRate: 0.434523 m/s, LOS rate: -1.350168 deg/s, posRepo size: 4
2021-01-27T22:53:23.043Z,1611788003.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:23.818Z,1611788003.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:24.232Z,1611788004.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:25.107Z,1611788005.107 [Micromodem](INFO): Nmea in: $SNTTA,0.016937,,,,225325.58*46

2021-01-27T22:53:25.133Z,1611788005.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 31.068427 deg, deltaT: 4.513953 s, approachRate: 0.624730 m/s, LOS rate: 13.474730 deg/s, posRepo size: 4
2021-01-27T22:53:27.478Z,1611788007.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:28.264Z,1611788008.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:28.711Z,1611788008.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:29.505Z,1611788009.505 [Micromodem](INFO): Nmea in: $SNTTA,0.018801,,,,225330.03*46

2021-01-27T22:53:29.520Z,1611788009.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.379997 m, bearing: 35.361331 deg, deltaT: 4.378354 s, approachRate: 0.630373 m/s, LOS rate: 0.980483 deg/s, posRepo size: 4
2021-01-27T22:53:31.936Z,1611788011.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:32.739Z,1611788012.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:33.120Z,1611788013.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:33.940Z,1611788013.940 [Micromodem](INFO): Nmea in: $SNTTA,0.020836,,,,225334.50*4B

2021-01-27T22:53:34.007Z,1611788014.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.379999 m, bearing: 35.325434 deg, deltaT: 4.437769 s, approachRate: 0.676016 m/s, LOS rate: -0.008089 deg/s, posRepo size: 4
2021-01-27T22:53:36.358Z,1611788016.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:37.158Z,1611788017.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:37.556Z,1611788017.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:38.401Z,1611788018.401 [Micromodem](INFO): Nmea in: $SNTTA,0.022801,,,,225338.92*4F

2021-01-27T22:53:38.423Z,1611788018.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.920002 m, bearing: 12.882633 deg, deltaT: 4.477326 s, approachRate: 0.790651 m/s, LOS rate: -5.012546 deg/s, posRepo size: 4
2021-01-27T22:53:40.842Z,1611788020.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:41.590Z,1611788021.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:42.016Z,1611788022.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:42.850Z,1611788022.850 [Micromodem](INFO): Nmea in: $SNTTA,0.024750,,0.035011,,225343.35*5B

2021-01-27T22:53:42.916Z,1611788022.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.620003 m, bearing: 7.564161 deg, deltaT: 4.407747 s, approachRate: 0.612558 m/s, LOS rate: -1.206619 deg/s, posRepo size: 4
2021-01-27T22:53:45.280Z,1611788025.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:46.042Z,1611788026.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:46.444Z,1611788026.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:47.277Z,1611788027.277 [Micromodem](INFO): Nmea in: $SNTTA,0.026655,,,,225347.80*4F

2021-01-27T22:53:47.331Z,1611788027.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 359.323084 deg, deltaT: 4.449921 s, approachRate: 0.566301 m/s, LOS rate: -1.851961 deg/s, posRepo size: 4
2021-01-27T22:53:49.717Z,1611788029.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:50.478Z,1611788030.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:50.900Z,1611788030.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:51.737Z,1611788031.737 [Micromodem](INFO): Nmea in: $SNTTA,0.028748,,,,225352.24*46

2021-01-27T22:53:51.804Z,1611788031.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.319996 m, bearing: 357.173131 deg, deltaT: 4.465920 s, approachRate: 0.712059 m/s, LOS rate: -0.481413 deg/s, posRepo size: 4
2021-01-27T22:53:54.141Z,1611788034.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:54.934Z,1611788034.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:55.343Z,1611788035.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:53:56.175Z,1611788036.175 [Micromodem](INFO): Nmea in: $SNTTA,0.030740,,,,225356.69*4A

2021-01-27T22:53:56.195Z,1611788036.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.619999 m, bearing: 15.484018 deg, deltaT: 4.490917 s, approachRate: 0.734817 m/s, LOS rate: 4.077314 deg/s, posRepo size: 4
2021-01-27T22:53:58.590Z,1611788038.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:53:59.374Z,1611788039.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:53:59.787Z,1611788039.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:00.633Z,1611788040.633 [Micromodem](INFO): Nmea in: $SNTTA,0.032781,,,,225401.13*4D

2021-01-27T22:54:00.659Z,1611788040.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 5.811760 deg, deltaT: 4.387916 s, approachRate: 0.765740 m/s, LOS rate: -2.204294 deg/s, posRepo size: 4
2021-01-27T22:54:03.051Z,1611788043.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:03.818Z,1611788043.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:04.224Z,1611788044.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:05.073Z,1611788045.073 [Micromodem](INFO): Nmea in: $SNTTA,0.034708,,,,225405.58*41

2021-01-27T22:54:05.138Z,1611788045.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.260002 m, bearing: 16.720715 deg, deltaT: 4.449472 s, approachRate: 0.512420 m/s, LOS rate: 2.451741 deg/s, posRepo size: 4
2021-01-27T22:54:07.497Z,1611788047.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:08.266Z,1611788048.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:08.680Z,1611788048.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:09.505Z,1611788049.505 [Micromodem](INFO): Nmea in: $SNTTA,0.036690,,,,225410.02*48

2021-01-27T22:54:09.527Z,1611788049.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.199997 m, bearing: 15.493084 deg, deltaT: 4.435727 s, approachRate: 0.662799 m/s, LOS rate: -0.276760 deg/s, posRepo size: 4
2021-01-27T22:54:11.957Z,1611788051.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:12.702Z,1611788052.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:13.112Z,1611788053.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:13.962Z,1611788053.962 [Micromodem](INFO): Nmea in: $SNTTA,0.038694,,,,225414.46*46

2021-01-27T22:54:14.023Z,1611788054.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.260006 m, bearing: 18.039090 deg, deltaT: 4.429334 s, approachRate: 0.690851 m/s, LOS rate: 0.574806 deg/s, posRepo size: 4
2021-01-27T22:54:16.365Z,1611788056.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:17.150Z,1611788057.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:17.552Z,1611788057.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:18.397Z,1611788058.397 [Micromodem](INFO): Nmea in: $SNTTA,0.040754,,,,225418.91*42

2021-01-27T22:54:18.419Z,1611788058.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 19.019094 deg, deltaT: 4.491986 s, approachRate: 0.694570 m/s, LOS rate: 0.218167 deg/s, posRepo size: 4
2021-01-27T22:54:20.821Z,1611788060.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:21.590Z,1611788061.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:22.009Z,1611788062.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:22.833Z,1611788062.833 [Micromodem](INFO): Nmea in: $SNTTA,0.042908,,,,225423.35*41

2021-01-27T22:54:22.891Z,1611788062.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.559998 m, bearing: 18.622579 deg, deltaT: 4.395390 s, approachRate: 0.723484 m/s, LOS rate: -0.090211 deg/s, posRepo size: 4
2021-01-27T22:54:25.242Z,1611788065.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:26.042Z,1611788066.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:26.450Z,1611788066.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:27.285Z,1611788067.285 [Micromodem](INFO): Nmea in: $SNTTA,0.044959,,,,225427.80*49

2021-01-27T22:54:27.307Z,1611788067.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 18.907453 deg, deltaT: 4.471770 s, approachRate: 0.684292 m/s, LOS rate: 0.063705 deg/s, posRepo size: 4
2021-01-27T22:54:29.789Z,1611788069.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:30.493Z,1611788070.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:30.888Z,1611788070.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:31.730Z,1611788071.730 [Micromodem](INFO): Nmea in: $SNTTA,0.047060,,,,225432.25*42

2021-01-27T22:54:31.779Z,1611788071.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.800003 m, bearing: 18.391106 deg, deltaT: 4.413724 s, approachRate: 0.720482 m/s, LOS rate: -0.116987 deg/s, posRepo size: 4
2021-01-27T22:54:34.150Z,1611788074.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:34.926Z,1611788074.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:35.424Z,1611788075.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:36.237Z,1611788076.237 [Micromodem](INFO): Nmea in: $SNTTA,0.049255,,,,225436.69*44

2021-01-27T22:54:36.259Z,1611788076.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.100006 m, bearing: 17.545496 deg, deltaT: 4.567409 s, approachRate: 0.722511 m/s, LOS rate: -0.185140 deg/s, posRepo size: 4
2021-01-27T22:54:38.750Z,1611788078.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:39.454Z,1611788079.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:39.861Z,1611788079.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:40.721Z,1611788080.721 [Micromodem](INFO): Nmea in: $SNTTA,0.051407,,,0.058781,225441.21*5D

2021-01-27T22:54:40.777Z,1611788080.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.280006 m, bearing: 19.509512 deg, deltaT: 4.421165 s, approachRate: 0.719267 m/s, LOS rate: 0.444230 deg/s, posRepo size: 4
2021-01-27T22:54:43.123Z,1611788083.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:43.906Z,1611788083.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:44.312Z,1611788084.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:45.165Z,1611788085.165 [Micromodem](INFO): Nmea in: $SNTTA,0.053643,,,,225445.66*47

2021-01-27T22:54:45.213Z,1611788085.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.639999 m, bearing: 26.797829 deg, deltaT: 4.488373 s, approachRate: 0.748599 m/s, LOS rate: 1.623822 deg/s, posRepo size: 4
2021-01-27T22:54:47.563Z,1611788087.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:48.346Z,1611788088.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:48.776Z,1611788088.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:49.593Z,1611788089.593 [Micromodem](INFO): Nmea in: $SNTTA,0.055869,,0.072707,,225450.10*59

2021-01-27T22:54:49.642Z,1611788089.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.420006 m, bearing: 19.746919 deg, deltaT: 4.389631 s, approachRate: 0.861122 m/s, LOS rate: -1.606265 deg/s, posRepo size: 4
2021-01-27T22:54:52.047Z,1611788092.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:52.798Z,1611788092.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:53.196Z,1611788093.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:54.041Z,1611788094.041 [Micromodem](INFO): Nmea in: $SNTTA,0.058143,,,,225454.56*48

2021-01-27T22:54:54.065Z,1611788094.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.419998 m, bearing: 19.756790 deg, deltaT: 4.476085 s, approachRate: 0.670227 m/s, LOS rate: 0.002205 deg/s, posRepo size: 4
2021-01-27T22:54:56.461Z,1611788096.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:54:57.230Z,1611788097.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:54:57.664Z,1611788097.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:54:58.477Z,1611788098.477 [Micromodem](INFO): Nmea in: $SNTTA,0.060365,,,,225458.99*4A

2021-01-27T22:54:58.493Z,1611788098.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.080009 m, bearing: 20.849892 deg, deltaT: 4.446259 s, approachRate: 0.823166 m/s, LOS rate: 0.245848 deg/s, posRepo size: 4
2021-01-27T22:55:00.918Z,1611788100.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:01.678Z,1611788101.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:02.092Z,1611788102.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:02.925Z,1611788102.925 [Micromodem](INFO): Nmea in: $SNTTA,0.062667,,,,225503.44*40

2021-01-27T22:55:02.959Z,1611788102.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 23.891814 deg, deltaT: 4.415387 s, approachRate: 0.706619 m/s, LOS rate: 0.688937 deg/s, posRepo size: 4
2021-01-27T22:55:05.027Z,1611788105.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:05.113Z,1611788105.113 [CTD_Seabird](ERROR): Failed to parse device response: ,2.7308,2.86396,6420.21
2021-01-27T22:55:05.744Z,1611788105.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:06.136Z,1611788106.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:06.947Z,1611788106.947 [Micromodem](INFO): Nmea in: $SNTTA,0.064603,,,,225507.50*45

2021-01-27T22:55:07.029Z,1611788107.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 21.788099 deg, deltaT: 4.054561 s, approachRate: 0.784302 m/s, LOS rate: -0.518852 deg/s, posRepo size: 4
2021-01-27T22:55:09.379Z,1611788109.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:10.178Z,1611788110.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:10.571Z,1611788110.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:11.401Z,1611788111.401 [Micromodem](INFO): Nmea in: $SNTTA,0.066909,,,,225511.94*4D

2021-01-27T22:55:11.434Z,1611788111.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.040001 m, bearing: 17.215068 deg, deltaT: 4.461948 s, approachRate: 0.820269 m/s, LOS rate: -1.024895 deg/s, posRepo size: 4
2021-01-27T22:55:13.843Z,1611788113.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:14.620Z,1611788114.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:15.016Z,1611788115.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:15.849Z,1611788115.849 [Micromodem](INFO): Nmea in: $SNTTA,0.069231,,,,225516.38*43

2021-01-27T22:55:15.912Z,1611788115.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.339996 m, bearing: 14.476420 deg, deltaT: 4.407690 s, approachRate: 0.748690 m/s, LOS rate: -0.621334 deg/s, posRepo size: 4
2021-01-27T22:55:18.258Z,1611788118.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:19.050Z,1611788119.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:19.452Z,1611788119.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:20.305Z,1611788120.305 [Micromodem](INFO): Nmea in: $SNTTA,0.071499,,,,225520.81*49

2021-01-27T22:55:20.339Z,1611788120.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 21.176149 deg, deltaT: 4.474641 s, approachRate: 0.750900 m/s, LOS rate: 1.497266 deg/s, posRepo size: 4
2021-01-27T22:55:22.767Z,1611788122.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:23.503Z,1611788123.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:23.900Z,1611788123.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:24.741Z,1611788124.741 [Micromodem](INFO): Nmea in: $SNTTA,0.073832,,,,225525.26*4E

2021-01-27T22:55:24.786Z,1611788124.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 22.031380 deg, deltaT: 4.410013 s, approachRate: 0.775506 m/s, LOS rate: 0.193929 deg/s, posRepo size: 4
2021-01-27T22:55:27.172Z,1611788127.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:27.939Z,1611788127.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:28.411Z,1611788128.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:29.221Z,1611788129.221 [Micromodem](INFO): Nmea in: $SNTTA,0.076006,,,,225529.70*4B

2021-01-27T22:55:29.315Z,1611788129.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.480003 m, bearing: 20.360393 deg, deltaT: 4.577925 s, approachRate: 0.733959 m/s, LOS rate: -0.365010 deg/s, posRepo size: 4
2021-01-27T22:55:31.689Z,1611788131.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:32.438Z,1611788132.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:32.857Z,1611788132.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:33.700Z,1611788133.700 [Micromodem](INFO): Nmea in: $SNTTA,0.078179,,,,225534.20*45

2021-01-27T22:55:33.791Z,1611788133.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.719994 m, bearing: 20.528323 deg, deltaT: 4.396680 s, approachRate: 0.736917 m/s, LOS rate: 0.038195 deg/s, posRepo size: 4
2021-01-27T22:55:36.094Z,1611788136.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:36.890Z,1611788136.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:37.304Z,1611788137.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:38.125Z,1611788138.125 [Micromodem](INFO): Nmea in: $SNTTA,0.080335,,,,225538.65*45

2021-01-27T22:55:38.147Z,1611788138.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.839996 m, bearing: 16.339144 deg, deltaT: 4.475506 s, approachRate: 0.697128 m/s, LOS rate: -0.936024 deg/s, posRepo size: 4
2021-01-27T22:55:40.538Z,1611788140.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:41.334Z,1611788141.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:41.768Z,1611788141.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:42.588Z,1611788142.588 [Micromodem](INFO): Nmea in: $SNTTA,0.082572,,,,225543.09*44

2021-01-27T22:55:42.641Z,1611788142.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.200005 m, bearing: 20.119649 deg, deltaT: 4.389628 s, approachRate: 0.765443 m/s, LOS rate: 0.861236 deg/s, posRepo size: 4
2021-01-27T22:55:45.054Z,1611788145.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:45.778Z,1611788145.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:46.191Z,1611788146.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:47.023Z,1611788147.023 [Micromodem](INFO): Nmea in: $SNTTA,0.084691,,,,225547.54*40

2021-01-27T22:55:47.048Z,1611788147.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.439995 m, bearing: 20.338119 deg, deltaT: 4.498356 s, approachRate: 0.720261 m/s, LOS rate: 0.048567 deg/s, posRepo size: 4
2021-01-27T22:55:49.437Z,1611788149.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:50.248Z,1611788150.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:50.644Z,1611788150.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:51.453Z,1611788151.453 [Micromodem](INFO): Nmea in: $SNTTA,0.086924,,,,225552.00*46

2021-01-27T22:55:51.485Z,1611788151.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.680008 m, bearing: 20.456516 deg, deltaT: 4.419928 s, approachRate: 0.733047 m/s, LOS rate: 0.026787 deg/s, posRepo size: 4
2021-01-27T22:55:53.903Z,1611788153.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:54.670Z,1611788154.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:55.068Z,1611788155.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:55:55.909Z,1611788155.909 [Micromodem](INFO): Nmea in: $SNTTA,0.089058,,,,225556.43*48

2021-01-27T22:55:55.932Z,1611788155.932 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-01-27T22:55:55.932Z,1611788155.932 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-01-27T22:55:55.932Z,1611788155.932 [RDI_Pathfinder](ERROR): Communications Fault
2021-01-27T22:55:55.955Z,1611788155.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.800003 m, bearing: 21.534780 deg, deltaT: 4.417260 s, approachRate: 0.706319 m/s, LOS rate: 0.244103 deg/s, posRepo size: 4
2021-01-27T22:55:56.092Z,1611788156.092 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-01-27T22:55:56.364Z,1611788156.364 [RDI_Pathfinder](INFO): Powering down
2021-01-27T22:55:57.240Z,1611788157.240 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-01-27T22:55:57.240Z,1611788157.240 [RDI_Pathfinder] No Fault, FailCount= 1
2021-01-27T22:55:58.333Z,1611788158.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:55:59.106Z,1611788159.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:55:59.521Z,1611788159.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:00.357Z,1611788160.357 [Micromodem](INFO): Nmea in: $SNTTA,0.091288,,,,225600.86*47

2021-01-27T22:56:00.379Z,1611788160.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.279999 m, bearing: 21.089609 deg, deltaT: 4.464098 s, approachRate: 0.779552 m/s, LOS rate: -0.099723 deg/s, posRepo size: 4
2021-01-27T22:56:02.807Z,1611788162.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:03.550Z,1611788163.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:03.968Z,1611788163.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:04.813Z,1611788164.813 [Micromodem](INFO): Nmea in: $SNTTA,0.093411,,,,225605.31*4A

2021-01-27T22:56:04.837Z,1611788164.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.460007 m, bearing: 36.425573 deg, deltaT: 4.449049 s, approachRate: 0.714761 m/s, LOS rate: 3.447021 deg/s, posRepo size: 4
2021-01-27T22:56:07.214Z,1611788167.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:08.002Z,1611788168.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:08.417Z,1611788168.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:09.242Z,1611788169.242 [Micromodem](INFO): Nmea in: $SNTTA,0.095529,,0.099565,,225609.76*51

2021-01-27T22:56:09.257Z,1611788169.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 24.377266 deg, deltaT: 4.438441 s, approachRate: 0.689431 m/s, LOS rate: -2.714536 deg/s, posRepo size: 4
2021-01-27T22:56:11.664Z,1611788171.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:12.446Z,1611788172.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:12.845Z,1611788172.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:13.696Z,1611788173.696 [Micromodem](INFO): Nmea in: $SNTTA,0.097792,,,,225614.20*46

2021-01-27T22:56:13.767Z,1611788173.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.000000 m, bearing: 22.456508 deg, deltaT: 4.430423 s, approachRate: 0.785477 m/s, LOS rate: -0.433538 deg/s, posRepo size: 4
2021-01-27T22:56:16.102Z,1611788176.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:16.898Z,1611788176.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:17.296Z,1611788177.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:18.110Z,1611788178.110 [Micromodem](INFO): Nmea in: $SNTTA,0.099990,,,,225618.66*4A

2021-01-27T22:56:18.968Z,1611788178.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:20.517Z,1611788180.517 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T22:56:21.797Z,1611788181.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:22.550Z,1611788182.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:22.944Z,1611788182.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:23.790Z,1611788183.790 [Micromodem](INFO): Nmea in: $SNTTA,0.102819,,,,225624.31*44

2021-01-27T22:56:24.598Z,1611788184.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:26.181Z,1611788186.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T22:56:27.480Z,1611788187.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:28.191Z,1611788188.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:28.608Z,1611788188.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:29.434Z,1611788189.434 [Micromodem](INFO): Nmea in: $SNTTA,0.105506,,,,225629.95*43

2021-01-27T22:56:30.257Z,1611788190.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:31.829Z,1611788191.829 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T22:56:33.071Z,1611788193.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:33.854Z,1611788193.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:34.262Z,1611788194.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:35.093Z,1611788195.093 [Micromodem](INFO): Nmea in: $SNTTA,0.108097,,,,225635.61*45

2021-01-27T22:56:35.117Z,1611788195.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.480011 m, bearing: 40.678763 deg, deltaT: 21.472650 s, approachRate: 0.720918 m/s, LOS rate: 0.848626 deg/s, posRepo size: 4
2021-01-27T22:56:35.118Z,1611788195.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 162.48 m. Resuming terminal guidance.
2021-01-27T22:56:35.118Z,1611788195.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-27T22:56:37.521Z,1611788197.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:38.295Z,1611788198.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:38.736Z,1611788198.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:39.526Z,1611788199.526 [Micromodem](INFO): Nmea in: $SNTTA,0.110128,,,,225640.05*49

2021-01-27T22:56:40.399Z,1611788200.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:41.930Z,1611788201.930 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T22:56:43.165Z,1611788203.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:43.951Z,1611788203.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:44.371Z,1611788204.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:45.193Z,1611788205.193 [Micromodem](INFO): Nmea in: $SNTTA,0.112866,,,,225645.71*4E

2021-01-27T22:56:45.250Z,1611788205.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 29.204489 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-27T22:56:45.251Z,1611788205.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 29.204489deg and heading rate command to 0 deg/s.
2021-01-27T22:56:47.639Z,1611788207.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:48.422Z,1611788208.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:48.800Z,1611788208.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:49.624Z,1611788209.624 [Micromodem](INFO): Nmea in: $SNTTA,0.115094,,,,225650.18*47

2021-01-27T22:56:50.056Z,1611788210.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.039993 m, bearing: 42.847641 deg, deltaT: 4.861267 s, approachRate: 0.740546 m/s, LOS rate: 2.806501 deg/s, posRepo size: 2
2021-01-27T22:56:50.058Z,1611788210.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.039993 m,
      bearing: 42.847641 deg,
      approachRate: 0.740546 m/s,
      LOS rate: 2.806501 deg/s,
      cmd update: 11.226006 deg/s,
      cmd heading: 29.204489 deg,
      new cmd heading: 29.204489 deg.

2021-01-27T22:56:52.460Z,1611788212.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:53.243Z,1611788213.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:53.644Z,1611788213.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:54.489Z,1611788214.489 [Micromodem](INFO): Nmea in: $SNTTA,0.117264,,,,225655.00*44

2021-01-27T22:56:54.514Z,1611788214.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.039993 m, bearing: 1.602166 deg, deltaT: 4.401040 s, approachRate: 0.000000 m/s, LOS rate: -9.371757 deg/s, posRepo size: 3
2021-01-27T22:56:54.515Z,1611788214.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.039993 m,
      bearing: 1.602166 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -9.371757 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 78.653406 deg,
      new cmd heading: 83.439333 deg.

2021-01-27T22:56:56.913Z,1611788216.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:56:57.692Z,1611788217.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:56:58.102Z,1611788218.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:56:58.916Z,1611788218.916 [Micromodem](INFO): Nmea in: $SNTTA,0.118913,,,,225659.45*4D

2021-01-27T22:56:59.381Z,1611788219.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 11.707626 deg, deltaT: 4.876979 s, approachRate: 1.168759 m/s, LOS rate: 2.072074 deg/s, posRepo size: 4
2021-01-27T22:56:59.383Z,1611788219.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.740005 m,
      bearing: 11.707626 deg,
      approachRate: 1.168759 m/s,
      LOS rate: 2.072074 deg/s,
      cmd update: 8.288295 deg/s,
      cmd heading: 20.231116 deg,
      new cmd heading: 15.186508 deg.

2021-01-27T22:57:01.791Z,1611788221.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:02.534Z,1611788222.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:02.948Z,1611788222.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:03.781Z,1611788223.781 [Micromodem](INFO): Nmea in: $SNTTA,0.120583,,,,225704.29*40

2021-01-27T22:57:04.175Z,1611788224.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.839996 m, bearing: 83.425235 deg, deltaT: 4.839789 s, approachRate: 0.433901 m/s, LOS rate: 14.818333 deg/s, posRepo size: 4
2021-01-27T22:57:04.176Z,1611788224.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.818333 deg/s. Setting heading cmd to target bearing of 83.425235deg and heading rate command to 0 deg/s.
2021-01-27T22:57:06.615Z,1611788226.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:07.410Z,1611788227.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:07.799Z,1611788227.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:08.614Z,1611788228.614 [Micromodem](INFO): Nmea in: $SNTTA,0.122372,,,,225709.17*4A

2021-01-27T22:57:09.048Z,1611788229.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 33.237203 deg, deltaT: 4.876770 s, approachRate: 0.578253 m/s, LOS rate: -10.291244 deg/s, posRepo size: 4
2021-01-27T22:57:09.050Z,1611788229.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.660004 m,
      bearing: 33.237203 deg,
      approachRate: 0.578253 m/s,
      LOS rate: -10.291244 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.425235 deg,
      new cmd heading: 83.425235 deg.

2021-01-27T22:57:11.451Z,1611788231.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:12.220Z,1611788232.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:12.660Z,1611788232.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:13.478Z,1611788233.478 [Micromodem](INFO): Nmea in: $SNTTA,0.124516,,,,225713.98*44

2021-01-27T22:57:13.503Z,1611788233.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 30.000076 deg, deltaT: 4.425437 s, approachRate: 0.000000 m/s, LOS rate: -0.731482 deg/s, posRepo size: 4
2021-01-27T22:57:13.505Z,1611788233.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.660004 m,
      bearing: 30.000076 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.731482 deg/s,
      cmd update: -2.925928 deg/s,
      cmd heading: 30.279837 deg,
      new cmd heading: 25.431405 deg.

2021-01-27T22:57:15.910Z,1611788235.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:16.694Z,1611788236.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:17.080Z,1611788237.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:17.906Z,1611788237.906 [Micromodem](INFO): Nmea in: $SNTTA,0.126398,,,,225718.45*4D

2021-01-27T22:57:18.346Z,1611788238.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.939987 m, bearing: 45.576322 deg, deltaT: 4.850845 s, approachRate: 1.088467 m/s, LOS rate: 3.211038 deg/s, posRepo size: 4
2021-01-27T22:57:18.352Z,1611788238.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.939987 m,
      bearing: 45.576322 deg,
      approachRate: 1.088467 m/s,
      LOS rate: 3.211038 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 16.075862 deg,
      new cmd heading: 14.940915 deg.

2021-01-27T22:57:20.789Z,1611788240.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:21.530Z,1611788241.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:21.928Z,1611788241.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:22.778Z,1611788242.778 [Micromodem](INFO): Nmea in: $SNTTA,0.127888,,,,225723.29*44

2021-01-27T22:57:23.569Z,1611788243.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:25.157Z,1611788245.157 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T22:57:26.418Z,1611788246.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:27.174Z,1611788247.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:27.594Z,1611788247.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:28.423Z,1611788248.423 [Micromodem](INFO): Nmea in: $SNTTA,0.130314,,,,225728.93*46

2021-01-27T22:57:28.824Z,1611788248.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.719986 m, bearing: 8.239822 deg, deltaT: 10.489707 s, approachRate: 0.646348 m/s, LOS rate: -3.559346 deg/s, posRepo size: 4
2021-01-27T22:57:28.826Z,1611788248.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.719986 m,
      bearing: 8.239822 deg,
      approachRate: 0.646348 m/s,
      LOS rate: -3.559346 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 142.004430 deg,
      new cmd heading: 146.515278 deg.

2021-01-27T22:57:31.230Z,1611788251.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:32.034Z,1611788252.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:32.432Z,1611788252.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:33.260Z,1611788253.260 [Micromodem](INFO): Nmea in: $SNTTA,0.132341,,,,225733.79*4A

2021-01-27T22:57:33.689Z,1611788253.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.119980 m, bearing: 82.396465 deg, deltaT: 4.846228 s, approachRate: 0.495229 m/s, LOS rate: 15.301931 deg/s, posRepo size: 4
2021-01-27T22:57:33.690Z,1611788253.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.301931 deg/s. Setting heading cmd to target bearing of 82.396465deg and heading rate command to 0 deg/s.
2021-01-27T22:57:36.106Z,1611788256.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:36.874Z,1611788256.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:37.280Z,1611788257.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:38.104Z,1611788258.104 [Micromodem](INFO): Nmea in: $SNTTA,0.133723,,,,225738.63*4B

2021-01-27T22:57:38.533Z,1611788258.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.459991 m, bearing: 108.010843 deg, deltaT: 4.861054 s, approachRate: 0.481379 m/s, LOS rate: 5.269305 deg/s, posRepo size: 4
2021-01-27T22:57:38.535Z,1611788258.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.459991 m,
      bearing: 108.010843 deg,
      approachRate: 0.481379 m/s,
      LOS rate: 5.269305 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 82.396465 deg,
      new cmd heading: 82.396465 deg.

2021-01-27T22:57:40.943Z,1611788260.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:41.743Z,1611788261.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:42.132Z,1611788262.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:42.948Z,1611788262.948 [Micromodem](INFO): Nmea in: $SNTTA,0.134701,,,,225743.50*40

2021-01-27T22:57:43.401Z,1611788263.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.139984 m, bearing: 126.883577 deg, deltaT: 4.865817 s, approachRate: 0.345264 m/s, LOS rate: 3.878636 deg/s, posRepo size: 4
2021-01-27T22:57:43.403Z,1611788263.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.139984 m,
      bearing: 126.883577 deg,
      approachRate: 0.345264 m/s,
      LOS rate: 3.878636 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 140.603979 deg,
      new cmd heading: 145.392627 deg.

2021-01-27T22:57:45.822Z,1611788265.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:46.570Z,1611788266.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:47.000Z,1611788267.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:47.793Z,1611788267.793 [Micromodem](INFO): Nmea in: $SNTTA,0.135517,,,,225748.33*4A

2021-01-27T22:57:48.206Z,1611788268.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.339981 m, bearing: 158.643615 deg, deltaT: 4.828553 s, approachRate: 0.248521 m/s, LOS rate: 6.577548 deg/s, posRepo size: 4
2021-01-27T22:57:48.211Z,1611788268.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.339981 m,
      bearing: 158.643615 deg,
      approachRate: 0.248521 m/s,
      LOS rate: 6.577548 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 198.632633 deg,
      new cmd heading: 203.032097 deg.

2021-01-27T22:57:50.654Z,1611788270.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:51.422Z,1611788271.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:51.835Z,1611788271.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:52.656Z,1611788272.656 [Micromodem](INFO): Nmea in: $SNTTA,0.135639,,,,225753.18*46

2021-01-27T22:57:53.092Z,1611788273.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.399994 m, bearing: 81.991442 deg, deltaT: 4.894968 s, approachRate: 0.012260 m/s, LOS rate: -15.659382 deg/s, posRepo size: 4
2021-01-27T22:57:53.093Z,1611788273.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.659382 deg/s. Setting heading cmd to target bearing of 81.991442deg and heading rate command to 0 deg/s.
2021-01-27T22:57:55.499Z,1611788275.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:57:56.258Z,1611788276.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:57:56.683Z,1611788276.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:57:57.505Z,1611788277.505 [Micromodem](INFO): Nmea in: $SNTTA,0.135145,,,,225758.02*4A

2021-01-27T22:57:57.927Z,1611788277.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.679977 m, bearing: 162.790975 deg, deltaT: 4.819226 s, approachRate: -0.149405 m/s, LOS rate: 16.766081 deg/s, posRepo size: 4
2021-01-27T22:57:57.928Z,1611788277.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.766081 deg/s. Setting heading cmd to target bearing of 162.790975deg and heading rate command to 0 deg/s.
2021-01-27T22:58:00.354Z,1611788280.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:01.110Z,1611788281.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:01.520Z,1611788281.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:02.378Z,1611788282.378 [Micromodem](INFO): Nmea in: $SNTTA,0.133982,,,,225802.87*42

2021-01-27T22:58:02.784Z,1611788282.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.759995 m, bearing: 199.371979 deg, deltaT: 4.862972 s, approachRate: -0.394817 m/s, LOS rate: 7.522355 deg/s, posRepo size: 4
2021-01-27T22:58:02.786Z,1611788282.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.759995 m,
      bearing: 199.371979 deg,
      approachRate: -0.394817 m/s,
      LOS rate: 7.522355 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 162.790975 deg,
      new cmd heading: 162.790975 deg.

2021-01-27T22:58:05.166Z,1611788285.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:05.958Z,1611788285.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:06.385Z,1611788286.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:07.188Z,1611788287.188 [Micromodem](INFO): Nmea in: $SNTTA,0.132326,,,,225807.72*48

2021-01-27T22:58:07.613Z,1611788287.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.299988 m, bearing: 190.892627 deg, deltaT: 4.795613 s, approachRate: -0.512970 m/s, LOS rate: -1.768148 deg/s, posRepo size: 4
2021-01-27T22:58:07.615Z,1611788287.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.299988 m,
      bearing: 190.892627 deg,
      approachRate: -0.512970 m/s,
      LOS rate: -1.768148 deg/s,
      cmd update: -7.072591 deg/s,
      cmd heading: 220.144040 deg,
      new cmd heading: 225.072512 deg.

2021-01-27T22:58:10.026Z,1611788290.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:10.806Z,1611788290.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:11.224Z,1611788291.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:12.048Z,1611788292.048 [Micromodem](INFO): Nmea in: $SNTTA,0.130282,,,,225812.56*47

2021-01-27T22:58:12.465Z,1611788292.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.239990 m, bearing: 194.382785 deg, deltaT: 4.868213 s, approachRate: -0.628567 m/s, LOS rate: 0.716928 deg/s, posRepo size: 4
2021-01-27T22:58:12.467Z,1611788292.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.239990 m,
      bearing: 194.382785 deg,
      approachRate: -0.628567 m/s,
      LOS rate: 0.716928 deg/s,
      cmd update: 2.867712 deg/s,
      cmd heading: 185.570238 deg,
      new cmd heading: 182.923788 deg.

2021-01-27T22:58:14.875Z,1611788294.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:15.666Z,1611788295.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:16.060Z,1611788296.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:16.892Z,1611788296.892 [Micromodem](INFO): Nmea in: $SNTTA,0.127873,,,,225817.42*45

2021-01-27T22:58:17.293Z,1611788297.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.580002 m, bearing: 191.056401 deg, deltaT: 4.854352 s, approachRate: -0.753960 m/s, LOS rate: -0.685238 deg/s, posRepo size: 4
2021-01-27T22:58:17.295Z,1611788297.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.580002 m,
      bearing: 191.056401 deg,
      approachRate: -0.753960 m/s,
      LOS rate: -0.685238 deg/s,
      cmd update: -2.740950 deg/s,
      cmd heading: 199.490485 deg,
      new cmd heading: 200.487956 deg.

2021-01-27T22:58:19.802Z,1611788299.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:20.502Z,1611788300.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:20.920Z,1611788300.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:21.753Z,1611788301.753 [Micromodem](INFO): Nmea in: $SNTTA,0.125607,,,,225822.26*4E

2021-01-27T22:58:22.158Z,1611788302.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 191.610452 deg, deltaT: 4.863239 s, approachRate: -0.678564 m/s, LOS rate: 0.113926 deg/s, posRepo size: 4
2021-01-27T22:58:22.160Z,1611788302.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 191.610452 deg,
      approachRate: -0.678564 m/s,
      LOS rate: 0.113926 deg/s,
      cmd update: 0.455706 deg/s,
      cmd heading: 186.160023 deg,
      new cmd heading: 185.200841 deg.

2021-01-27T22:58:24.572Z,1611788304.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:25.398Z,1611788305.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:25.789Z,1611788305.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:26.594Z,1611788306.594 [Micromodem](INFO): Nmea in: $SNTTA,0.123136,,,,225827.15*48

2021-01-27T22:58:27.015Z,1611788307.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.559998 m, bearing: 188.289123 deg, deltaT: 4.829356 s, approachRate: -0.770286 m/s, LOS rate: -0.687738 deg/s, posRepo size: 4
2021-01-27T22:58:27.017Z,1611788307.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.559998 m,
      bearing: 188.289123 deg,
      approachRate: -0.770286 m/s,
      LOS rate: -0.687738 deg/s,
      cmd update: -2.750950 deg/s,
      cmd heading: 188.360788 deg,
      new cmd heading: 188.532777 deg.

2021-01-27T22:58:29.451Z,1611788309.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:30.198Z,1611788310.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:30.600Z,1611788310.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:31.442Z,1611788311.442 [Micromodem](INFO): Nmea in: $SNTTA,0.120752,,,,225831.95*40

2021-01-27T22:58:31.495Z,1611788311.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.559998 m, bearing: 188.358271 deg, deltaT: 4.420606 s, approachRate: 0.000000 m/s, LOS rate: 0.015642 deg/s, posRepo size: 4
2021-01-27T22:58:31.497Z,1611788311.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.559998 m,
      bearing: 188.358271 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.015642 deg/s,
      cmd update: 0.062570 deg/s,
      cmd heading: 176.199934 deg,
      new cmd heading: 174.997733 deg.

2021-01-27T22:58:33.882Z,1611788313.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:34.652Z,1611788314.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:35.046Z,1611788315.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:35.876Z,1611788315.876 [Micromodem](INFO): Nmea in: $SNTTA,0.118495,,,,225836.41*4D

2021-01-27T22:58:36.298Z,1611788316.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.540009 m, bearing: 187.206469 deg, deltaT: 4.841712 s, approachRate: -1.449898 m/s, LOS rate: -0.237891 deg/s, posRepo size: 4
2021-01-27T22:58:36.301Z,1611788316.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.540009 m,
      bearing: 187.206469 deg,
      approachRate: -1.449898 m/s,
      LOS rate: -0.237891 deg/s,
      cmd update: -0.951566 deg/s,
      cmd heading: 176.502877 deg,
      new cmd heading: 176.527819 deg.

2021-01-27T22:58:38.769Z,1611788318.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:39.486Z,1611788319.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:39.900Z,1611788319.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:40.745Z,1611788320.745 [Micromodem](INFO): Nmea in: $SNTTA,0.116211,,,,225841.24*4A

2021-01-27T22:58:40.779Z,1611788320.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.540009 m, bearing: 189.408440 deg, deltaT: 4.485372 s, approachRate: 0.000000 m/s, LOS rate: 0.490923 deg/s, posRepo size: 4
2021-01-27T22:58:40.781Z,1611788320.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.540009 m,
      bearing: 189.408440 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.490923 deg/s,
      cmd update: 1.963691 deg/s,
      cmd heading: 172.254359 deg,
      new cmd heading: 171.859838 deg.

2021-01-27T22:58:43.169Z,1611788323.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:43.939Z,1611788323.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:44.365Z,1611788324.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:45.177Z,1611788325.177 [Micromodem](INFO): Nmea in: $SNTTA,0.114083,,0.116835,,225845.69*5A

2021-01-27T22:58:45.224Z,1611788325.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.940002 m, bearing: 189.863495 deg, deltaT: 4.418689 s, approachRate: -1.493657 m/s, LOS rate: 0.102984 deg/s, posRepo size: 4
2021-01-27T22:58:45.227Z,1611788325.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.940002 m,
      bearing: 189.863495 deg,
      approachRate: -1.493657 m/s,
      LOS rate: 0.102984 deg/s,
      cmd update: 0.411936 deg/s,
      cmd heading: 180.971513 deg,
      new cmd heading: 181.795888 deg.

2021-01-27T22:58:47.597Z,1611788327.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:48.412Z,1611788328.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:48.843Z,1611788328.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:49.593Z,1611788329.593 [Micromodem](INFO): Nmea in: $SNTTA,0.111775,,,,225850.17*4A

2021-01-27T22:58:50.053Z,1611788330.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.520020 m, bearing: 189.331519 deg, deltaT: 4.857666 s, approachRate: -0.704038 m/s, LOS rate: -0.109513 deg/s, posRepo size: 4
2021-01-27T22:58:50.055Z,1611788330.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.520020 m,
      bearing: 189.331519 deg,
      approachRate: -0.704038 m/s,
      LOS rate: -0.109513 deg/s,
      cmd update: -0.438051 deg/s,
      cmd heading: 182.970971 deg,
      new cmd heading: 183.125519 deg.

2021-01-27T22:58:52.462Z,1611788332.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:53.226Z,1611788333.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:53.642Z,1611788333.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:54.473Z,1611788334.473 [Micromodem](INFO): Nmea in: $SNTTA,0.109295,,,,225854.98*4B

2021-01-27T22:58:54.502Z,1611788334.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.800018 m, bearing: 189.510005 deg, deltaT: 4.443995 s, approachRate: -0.837085 m/s, LOS rate: 0.040164 deg/s, posRepo size: 4
2021-01-27T22:58:54.505Z,1611788334.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.800018 m,
      bearing: 189.510005 deg,
      approachRate: -0.837085 m/s,
      LOS rate: 0.040164 deg/s,
      cmd update: 0.160654 deg/s,
      cmd heading: 181.024265 deg,
      new cmd heading: 180.848696 deg.

2021-01-27T22:58:55.681Z,1611788335.681 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T22:58:56.923Z,1611788336.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:58:57.666Z,1611788337.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:58:58.085Z,1611788338.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:58:58.913Z,1611788338.913 [Micromodem](INFO): Nmea in: $SNTTA,0.107096,,,,225859.43*4F

2021-01-27T22:58:58.959Z,1611788338.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.559998 m, bearing: 189.576340 deg, deltaT: 4.424075 s, approachRate: -0.732361 m/s, LOS rate: 0.014994 deg/s, posRepo size: 4
2021-01-27T22:58:58.961Z,1611788338.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.559998 m,
      bearing: 189.576340 deg,
      approachRate: -0.732361 m/s,
      LOS rate: 0.014994 deg/s,
      cmd update: 0.059976 deg/s,
      cmd heading: 181.733084 deg,
      new cmd heading: 181.804569 deg.

2021-01-27T22:59:01.326Z,1611788341.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:02.131Z,1611788342.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:02.536Z,1611788342.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:03.369Z,1611788343.369 [Micromodem](INFO): Nmea in: $SNTTA,0.104919,,,,225903.89*4A

2021-01-27T22:59:03.412Z,1611788343.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.720001 m, bearing: 189.856952 deg, deltaT: 4.428777 s, approachRate: -0.867056 m/s, LOS rate: 0.063361 deg/s, posRepo size: 4
2021-01-27T22:59:03.414Z,1611788343.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.720001 m,
      bearing: 189.856952 deg,
      approachRate: -0.867056 m/s,
      LOS rate: 0.063361 deg/s,
      cmd update: 0.253444 deg/s,
      cmd heading: 181.999634 deg,
      new cmd heading: 182.026866 deg.

2021-01-27T22:59:05.798Z,1611788345.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:06.558Z,1611788346.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:06.974Z,1611788346.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:07.813Z,1611788347.813 [Micromodem](INFO): Nmea in: $SNTTA,0.102740,,,,225908.31*46

2021-01-27T22:59:07.837Z,1611788347.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 190.135719 deg, deltaT: 4.452887 s, approachRate: -0.633299 m/s, LOS rate: 0.062604 deg/s, posRepo size: 4
2021-01-27T22:59:07.838Z,1611788347.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.899994 m,
      bearing: 190.135719 deg,
      approachRate: -0.633299 m/s,
      LOS rate: 0.062604 deg/s,
      cmd update: 0.250415 deg/s,
      cmd heading: 183.128309 deg,
      new cmd heading: 183.236030 deg.

2021-01-27T22:59:10.219Z,1611788350.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:10.606Z,1611788350.606 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:59:11.006Z,1611788351.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:11.420Z,1611788351.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:12.261Z,1611788352.261 [Micromodem](INFO): Nmea in: $SNTTA,0.100373,,,,225912.76*48

2021-01-27T22:59:12.283Z,1611788352.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.360001 m, bearing: 191.632924 deg, deltaT: 4.442548 s, approachRate: -0.796839 m/s, LOS rate: 0.337015 deg/s, posRepo size: 4
2021-01-27T22:59:12.285Z,1611788352.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.360001 m,
      bearing: 191.632924 deg,
      approachRate: -0.796839 m/s,
      LOS rate: 0.337015 deg/s,
      cmd update: 1.348059 deg/s,
      cmd heading: 184.240786 deg,
      new cmd heading: 184.348354 deg.

2021-01-27T22:59:14.664Z,1611788354.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:15.442Z,1611788355.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:15.460Z,1611788355.460 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:59:15.852Z,1611788355.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:16.700Z,1611788356.700 [Micromodem](INFO): Nmea in: $SNTTA,0.098149,,,,225917.20*45

2021-01-27T22:59:16.765Z,1611788356.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.059998 m, bearing: 190.221233 deg, deltaT: 4.427850 s, approachRate: -0.745283 m/s, LOS rate: -0.318821 deg/s, posRepo size: 4
2021-01-27T22:59:16.767Z,1611788356.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.059998 m,
      bearing: 190.221233 deg,
      approachRate: -0.745283 m/s,
      LOS rate: -0.318821 deg/s,
      cmd update: -1.275283 deg/s,
      cmd heading: 190.209601 deg,
      new cmd heading: 190.861745 deg.

2021-01-27T22:59:19.099Z,1611788359.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:19.890Z,1611788359.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:20.300Z,1611788360.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:20.735Z,1611788360.735 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T22:59:21.137Z,1611788361.137 [Micromodem](INFO): Nmea in: $SNTTA,0.095938,,,,225921.65*42

2021-01-27T22:59:21.159Z,1611788361.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.880005 m, bearing: 191.990470 deg, deltaT: 4.504695 s, approachRate: -0.705929 m/s, LOS rate: 0.392754 deg/s, posRepo size: 4
2021-01-27T22:59:21.161Z,1611788361.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.880005 m,
      bearing: 191.990470 deg,
      approachRate: -0.705929 m/s,
      LOS rate: 0.392754 deg/s,
      cmd update: 1.571017 deg/s,
      cmd heading: 184.469881 deg,
      new cmd heading: 183.989455 deg.

2021-01-27T22:59:23.575Z,1611788363.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:24.334Z,1611788364.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:24.771Z,1611788364.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:25.573Z,1611788365.573 [Micromodem](INFO): Nmea in: $SNTTA,0.093747,,,,225926.09*4F

2021-01-27T22:59:25.579Z,1611788365.579 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T22:59:25.619Z,1611788365.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.400009 m, bearing: 191.326303 deg, deltaT: 4.370218 s, approachRate: -0.796298 m/s, LOS rate: -0.151976 deg/s, posRepo size: 4
2021-01-27T22:59:25.625Z,1611788365.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.400009 m,
      bearing: 191.326303 deg,
      approachRate: -0.796298 m/s,
      LOS rate: -0.151976 deg/s,
      cmd update: -0.607903 deg/s,
      cmd heading: 191.342000 deg,
      new cmd heading: 192.068990 deg.

2021-01-27T22:59:28.021Z,1611788368.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:28.774Z,1611788368.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:29.184Z,1611788369.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:30.021Z,1611788370.021 [Micromodem](INFO): Nmea in: $SNTTA,0.091408,,,,225930.53*4D

2021-01-27T22:59:30.062Z,1611788370.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.919998 m, bearing: 192.549275 deg, deltaT: 4.450401 s, approachRate: -0.781954 m/s, LOS rate: 0.274801 deg/s, posRepo size: 4
2021-01-27T22:59:30.064Z,1611788370.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.919998 m,
      bearing: 192.549275 deg,
      approachRate: -0.781954 m/s,
      LOS rate: 0.274801 deg/s,
      cmd update: 1.099202 deg/s,
      cmd heading: 188.636715 deg,
      new cmd heading: 188.360065 deg.

2021-01-27T22:59:32.451Z,1611788372.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:33.227Z,1611788373.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:33.636Z,1611788373.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:34.477Z,1611788374.477 [Micromodem](INFO): Nmea in: $SNTTA,0.089219,,,,225934.98*41

2021-01-27T22:59:34.522Z,1611788374.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.619995 m, bearing: 191.863197 deg, deltaT: 4.459586 s, approachRate: -0.739980 m/s, LOS rate: -0.153844 deg/s, posRepo size: 4
2021-01-27T22:59:34.528Z,1611788374.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.619995 m,
      bearing: 191.863197 deg,
      approachRate: -0.739980 m/s,
      LOS rate: -0.153844 deg/s,
      cmd update: -0.615374 deg/s,
      cmd heading: 193.538757 deg,
      new cmd heading: 194.039153 deg.

2021-01-27T22:59:36.884Z,1611788376.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:37.666Z,1611788377.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:38.068Z,1611788378.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:38.913Z,1611788378.913 [Micromodem](INFO): Nmea in: $SNTTA,0.086992,,0.089780,,225939.42*5C

2021-01-27T22:59:38.949Z,1611788378.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.380005 m, bearing: 192.301353 deg, deltaT: 4.452653 s, approachRate: -0.727654 m/s, LOS rate: 0.098403 deg/s, posRepo size: 4
2021-01-27T22:59:38.951Z,1611788378.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.380005 m,
      bearing: 192.301353 deg,
      approachRate: -0.727654 m/s,
      LOS rate: 0.098403 deg/s,
      cmd update: 0.393614 deg/s,
      cmd heading: 190.808446 deg,
      new cmd heading: 190.534213 deg.

2021-01-27T22:59:40.519Z,1611788380.519 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T22:59:41.326Z,1611788381.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:42.110Z,1611788382.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:42.524Z,1611788382.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:43.379Z,1611788383.379 [Micromodem](INFO): Nmea in: $SNTTA,0.084602,,,,225943.87*4C

2021-01-27T22:59:43.420Z,1611788383.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.660004 m, bearing: 192.644010 deg, deltaT: 4.440680 s, approachRate: -0.837710 m/s, LOS rate: 0.077163 deg/s, posRepo size: 4
2021-01-27T22:59:43.422Z,1611788383.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.660004 m,
      bearing: 192.644010 deg,
      approachRate: -0.837710 m/s,
      LOS rate: 0.077163 deg/s,
      cmd update: 0.308653 deg/s,
      cmd heading: 192.562394 deg,
      new cmd heading: 192.742183 deg.

2021-01-27T22:59:45.815Z,1611788385.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:46.554Z,1611788386.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:46.967Z,1611788386.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:47.809Z,1611788387.809 [Micromodem](INFO): Nmea in: $SNTTA,0.082212,,,,225948.31*49

2021-01-27T22:59:47.850Z,1611788387.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.119995 m, bearing: 192.265290 deg, deltaT: 4.450974 s, approachRate: -0.795333 m/s, LOS rate: -0.085087 deg/s, posRepo size: 4
2021-01-27T22:59:47.851Z,1611788387.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.119995 m,
      bearing: 192.265290 deg,
      approachRate: -0.795333 m/s,
      LOS rate: -0.085087 deg/s,
      cmd update: -0.340348 deg/s,
      cmd heading: 193.936342 deg,
      new cmd heading: 194.071817 deg.

2021-01-27T22:59:50.225Z,1611788390.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:51.002Z,1611788391.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:51.420Z,1611788391.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:52.241Z,1611788392.241 [Micromodem](INFO): Nmea in: $SNTTA,0.079800,,,,225952.76*4C

2021-01-27T22:59:52.256Z,1611788392.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.520004 m, bearing: 193.057592 deg, deltaT: 4.438411 s, approachRate: -0.811099 m/s, LOS rate: 0.178510 deg/s, posRepo size: 4
2021-01-27T22:59:52.258Z,1611788392.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.520004 m,
      bearing: 193.057592 deg,
      approachRate: -0.811099 m/s,
      LOS rate: 0.178510 deg/s,
      cmd update: 0.714041 deg/s,
      cmd heading: 192.425803 deg,
      new cmd heading: 192.287189 deg.

2021-01-27T22:59:54.664Z,1611788394.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:55.446Z,1611788395.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T22:59:55.853Z,1611788395.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T22:59:56.704Z,1611788396.704 [Micromodem](INFO): Nmea in: $SNTTA,0.077375,,,,225957.20*4D

2021-01-27T22:59:56.778Z,1611788396.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.980003 m, bearing: 193.371125 deg, deltaT: 4.448294 s, approachRate: -0.795811 m/s, LOS rate: 0.070484 deg/s, posRepo size: 4
2021-01-27T22:59:56.797Z,1611788396.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.980003 m,
      bearing: 193.371125 deg,
      approachRate: -0.795811 m/s,
      LOS rate: 0.070484 deg/s,
      cmd update: 0.281936 deg/s,
      cmd heading: 195.602210 deg,
      new cmd heading: 195.942557 deg.

2021-01-27T22:59:59.122Z,1611788399.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T22:59:59.891Z,1611788399.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:00.301Z,1611788400.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:01.129Z,1611788401.129 [Micromodem](INFO): Nmea in: $SNTTA,0.074993,,,,230001.65*43

2021-01-27T23:00:01.159Z,1611788401.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.320007 m, bearing: 192.806091 deg, deltaT: 4.485074 s, approachRate: -0.816039 m/s, LOS rate: -0.125981 deg/s, posRepo size: 4
2021-01-27T23:00:01.161Z,1611788401.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.320007 m,
      bearing: 192.806091 deg,
      approachRate: -0.816039 m/s,
      LOS rate: -0.125981 deg/s,
      cmd update: -0.503924 deg/s,
      cmd heading: 196.865586 deg,
      new cmd heading: 196.972954 deg.

2021-01-27T23:00:03.570Z,1611788403.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:04.337Z,1611788404.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:04.766Z,1611788404.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:05.577Z,1611788405.577 [Micromodem](INFO): Nmea in: $SNTTA,0.072619,,,,230006.09*45

2021-01-27T23:00:05.602Z,1611788405.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.720001 m, bearing: 193.121454 deg, deltaT: 4.395096 s, approachRate: -0.819096 m/s, LOS rate: 0.071753 deg/s, posRepo size: 4
2021-01-27T23:00:05.604Z,1611788405.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.720001 m,
      bearing: 193.121454 deg,
      approachRate: -0.819096 m/s,
      LOS rate: 0.071753 deg/s,
      cmd update: 0.287014 deg/s,
      cmd heading: 194.650852 deg,
      new cmd heading: 194.434829 deg.

2021-01-27T23:00:08.015Z,1611788408.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:08.794Z,1611788408.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:09.188Z,1611788409.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:10.007Z,1611788410.007 [Micromodem](INFO): Nmea in: $SNTTA,0.070217,,,,230010.55*43

2021-01-27T23:00:10.061Z,1611788410.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 192.684377 deg, deltaT: 4.450460 s, approachRate: -0.822386 m/s, LOS rate: -0.098210 deg/s, posRepo size: 4
2021-01-27T23:00:10.063Z,1611788410.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.060005 m,
      bearing: 192.684377 deg,
      approachRate: -0.822386 m/s,
      LOS rate: -0.098210 deg/s,
      cmd update: -0.392838 deg/s,
      cmd heading: 195.929326 deg,
      new cmd heading: 196.053333 deg.

2021-01-27T23:00:12.459Z,1611788412.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:13.220Z,1611788413.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:13.629Z,1611788413.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:14.474Z,1611788414.474 [Micromodem](INFO): Nmea in: $SNTTA,0.067991,,0.074015,,230014.98*5C

2021-01-27T23:00:14.510Z,1611788414.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.820007 m, bearing: 192.643191 deg, deltaT: 4.417295 s, approachRate: -0.733480 m/s, LOS rate: -0.009324 deg/s, posRepo size: 4
2021-01-27T23:00:14.512Z,1611788414.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.820007 m,
      bearing: 192.643191 deg,
      approachRate: -0.733480 m/s,
      LOS rate: -0.009324 deg/s,
      cmd update: -0.037295 deg/s,
      cmd heading: 194.193970 deg,
      new cmd heading: 194.011401 deg.

2021-01-27T23:00:14.866Z,1611788414.866 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T23:00:16.902Z,1611788416.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:17.670Z,1611788417.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:18.080Z,1611788418.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:18.929Z,1611788418.929 [Micromodem](INFO): Nmea in: $SNTTA,0.066006,,,,230019.43*48

2021-01-27T23:00:18.954Z,1611788418.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.400002 m, bearing: 192.724005 deg, deltaT: 4.486596 s, approachRate: -0.762272 m/s, LOS rate: 0.018012 deg/s, posRepo size: 4
2021-01-27T23:00:18.955Z,1611788418.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.400002 m,
      bearing: 192.724005 deg,
      approachRate: -0.762272 m/s,
      LOS rate: 0.018012 deg/s,
      cmd update: 0.072050 deg/s,
      cmd heading: 194.026849 deg,
      new cmd heading: 194.010914 deg.

2021-01-27T23:00:21.377Z,1611788421.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:22.111Z,1611788422.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:22.521Z,1611788422.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:23.379Z,1611788423.379 [Micromodem](INFO): Nmea in: $SNTTA,0.063287,,,,230023.87*47

2021-01-27T23:00:23.415Z,1611788423.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.980003 m, bearing: 191.606136 deg, deltaT: 4.430553 s, approachRate: -0.771912 m/s, LOS rate: -0.252309 deg/s, posRepo size: 4
2021-01-27T23:00:23.426Z,1611788423.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.980003 m,
      bearing: 191.606136 deg,
      approachRate: -0.771912 m/s,
      LOS rate: -0.252309 deg/s,
      cmd update: -1.009237 deg/s,
      cmd heading: 194.346353 deg,
      new cmd heading: 194.379109 deg.

2021-01-27T23:00:23.545Z,1611788423.545 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-01-27T23:00:23.545Z,1611788423.545 [ThrusterServo] Communications Fault, FailCount= 1
2021-01-27T23:00:23.545Z,1611788423.545 [ThrusterServo](ERROR): Communications Fault
2021-01-27T23:00:23.549Z,1611788423.549 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-01-27T23:00:23.868Z,1611788423.868 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-01-27T23:00:23.869Z,1611788423.869 [ThrusterServo](INFO): Powering down
2021-01-27T23:00:24.661Z,1611788424.661 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-01-27T23:00:24.781Z,1611788424.781 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-01-27T23:00:24.785Z,1611788424.785 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-01-27T23:00:24.785Z,1611788424.785 [ThrusterServo] No Fault, FailCount= 1
2021-01-27T23:00:25.823Z,1611788425.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:26.558Z,1611788426.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:26.979Z,1611788426.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:27.809Z,1611788427.809 [Micromodem](INFO): Nmea in: $SNTTA,0.061161,,,,230028.31*48

2021-01-27T23:00:27.833Z,1611788427.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.559998 m, bearing: 192.694280 deg, deltaT: 4.452286 s, approachRate: -0.768146 m/s, LOS rate: 0.244401 deg/s, posRepo size: 4
2021-01-27T23:00:27.835Z,1611788427.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.559998 m,
      bearing: 192.694280 deg,
      approachRate: -0.768146 m/s,
      LOS rate: 0.244401 deg/s,
      cmd update: 0.977605 deg/s,
      cmd heading: 189.851179 deg,
      new cmd heading: 189.429301 deg.

2021-01-27T23:00:30.243Z,1611788430.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:31.010Z,1611788431.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:31.432Z,1611788431.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:32.249Z,1611788432.249 [Micromodem](INFO): Nmea in: $SNTTA,0.059470,,,,230032.77*4F

2021-01-27T23:00:32.289Z,1611788432.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 191.698767 deg, deltaT: 4.455123 s, approachRate: -0.579107 m/s, LOS rate: -0.223454 deg/s, posRepo size: 4
2021-01-27T23:00:32.293Z,1611788432.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 191.698767 deg,
      approachRate: -0.579107 m/s,
      LOS rate: -0.223454 deg/s,
      cmd update: -0.893815 deg/s,
      cmd heading: 194.206631 deg,
      new cmd heading: 194.615537 deg.

2021-01-27T23:00:34.675Z,1611788434.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:35.474Z,1611788435.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:35.852Z,1611788435.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:36.675Z,1611788436.675 [Micromodem](INFO): Nmea in: $SNTTA,0.057553,,,,230037.23*45

2021-01-27T23:00:36.762Z,1611788436.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.100006 m, bearing: 192.229814 deg, deltaT: 4.398487 s, approachRate: -0.654770 m/s, LOS rate: 0.120734 deg/s, posRepo size: 4
2021-01-27T23:00:36.764Z,1611788436.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.100006 m,
      bearing: 192.229814 deg,
      approachRate: -0.654770 m/s,
      LOS rate: 0.120734 deg/s,
      cmd update: 0.482936 deg/s,
      cmd heading: 190.275375 deg,
      new cmd heading: 189.834477 deg.

2021-01-27T23:00:39.111Z,1611788439.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:39.903Z,1611788439.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:40.292Z,1611788440.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:41.141Z,1611788441.141 [Micromodem](INFO): Nmea in: $SNTTA,0.055511,,0.089448,,230041.66*56

2021-01-27T23:00:41.163Z,1611788441.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.040009 m, bearing: 192.378179 deg, deltaT: 4.523868 s, approachRate: -0.676412 m/s, LOS rate: 0.032796 deg/s, posRepo size: 4
2021-01-27T23:00:41.181Z,1611788441.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.040009 m,
      bearing: 192.378179 deg,
      approachRate: -0.676412 m/s,
      LOS rate: 0.032796 deg/s,
      cmd update: 0.131185 deg/s,
      cmd heading: 192.459085 deg,
      new cmd heading: 192.639310 deg.

2021-01-27T23:00:43.586Z,1611788443.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:44.349Z,1611788444.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:44.772Z,1611788444.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:45.581Z,1611788445.581 [Micromodem](INFO): Nmea in: $SNTTA,0.053271,,,,230046.11*41

2021-01-27T23:00:45.607Z,1611788445.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.160004 m, bearing: 191.735445 deg, deltaT: 4.384575 s, approachRate: -0.656849 m/s, LOS rate: -0.146590 deg/s, posRepo size: 4
2021-01-27T23:00:45.609Z,1611788445.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.160004 m,
      bearing: 191.735445 deg,
      approachRate: -0.656849 m/s,
      LOS rate: -0.146590 deg/s,
      cmd update: -0.586360 deg/s,
      cmd heading: 193.031905 deg,
      new cmd heading: 193.090968 deg.

2021-01-27T23:00:48.017Z,1611788448.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:48.786Z,1611788448.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:49.180Z,1611788449.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:50.013Z,1611788450.013 [Micromodem](INFO): Nmea in: $SNTTA,0.051029,,,,230050.54*4A

2021-01-27T23:00:50.061Z,1611788450.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.380005 m, bearing: 191.593254 deg, deltaT: 4.427141 s, approachRate: -0.853824 m/s, LOS rate: -0.032118 deg/s, posRepo size: 4
2021-01-27T23:00:50.062Z,1611788450.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.380005 m,
      bearing: 191.593254 deg,
      approachRate: -0.853824 m/s,
      LOS rate: -0.032118 deg/s,
      cmd update: -0.128472 deg/s,
      cmd heading: 190.424065 deg,
      new cmd heading: 190.158922 deg.

2021-01-27T23:00:52.483Z,1611788452.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:53.218Z,1611788453.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:53.629Z,1611788453.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:54.461Z,1611788454.461 [Micromodem](INFO): Nmea in: $SNTTA,0.048702,,,,230054.98*48

2021-01-27T23:00:54.486Z,1611788454.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.840004 m, bearing: 191.785565 deg, deltaT: 4.467575 s, approachRate: -0.792376 m/s, LOS rate: 0.043046 deg/s, posRepo size: 4
2021-01-27T23:00:54.488Z,1611788454.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.840004 m,
      bearing: 191.785565 deg,
      approachRate: -0.792376 m/s,
      LOS rate: 0.043046 deg/s,
      cmd update: 0.172184 deg/s,
      cmd heading: 189.850108 deg,
      new cmd heading: 189.796850 deg.

2021-01-27T23:00:56.884Z,1611788456.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:00:57.659Z,1611788457.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:00:58.068Z,1611788458.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:00:58.901Z,1611788458.901 [Micromodem](INFO): Nmea in: $SNTTA,0.046600,,,,230059.42*4F

2021-01-27T23:00:58.943Z,1611788458.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 191.317683 deg, deltaT: 4.451384 s, approachRate: -0.714386 m/s, LOS rate: -0.105109 deg/s, posRepo size: 4
2021-01-27T23:00:58.945Z,1611788458.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.659996 m,
      bearing: 191.317683 deg,
      approachRate: -0.714386 m/s,
      LOS rate: -0.105109 deg/s,
      cmd update: -0.420437 deg/s,
      cmd heading: 190.616549 deg,
      new cmd heading: 190.688889 deg.

2021-01-27T23:01:01.332Z,1611788461.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:02.115Z,1611788462.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:02.512Z,1611788462.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:03.370Z,1611788463.370 [Micromodem](INFO): Nmea in: $SNTTA,0.044434,,,,230103.87*4F

2021-01-27T23:01:03.400Z,1611788463.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.419998 m, bearing: 192.314085 deg, deltaT: 4.434608 s, approachRate: -0.730617 m/s, LOS rate: 0.224688 deg/s, posRepo size: 4
2021-01-27T23:01:03.402Z,1611788463.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.419998 m,
      bearing: 192.314085 deg,
      approachRate: -0.730617 m/s,
      LOS rate: 0.224688 deg/s,
      cmd update: 0.898751 deg/s,
      cmd heading: 188.753703 deg,
      new cmd heading: 188.566223 deg.

2021-01-27T23:01:05.817Z,1611788465.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:06.550Z,1611788466.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:06.956Z,1611788466.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:07.805Z,1611788467.805 [Micromodem](INFO): Nmea in: $SNTTA,0.042252,,,,230108.31*49

2021-01-27T23:01:07.835Z,1611788467.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.180004 m, bearing: 191.808828 deg, deltaT: 4.451778 s, approachRate: -0.727798 m/s, LOS rate: -0.113495 deg/s, posRepo size: 4
2021-01-27T23:01:07.837Z,1611788467.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.180004 m,
      bearing: 191.808828 deg,
      approachRate: -0.727798 m/s,
      LOS rate: -0.113495 deg/s,
      cmd update: -0.453982 deg/s,
      cmd heading: 192.758321 deg,
      new cmd heading: 193.140997 deg.

2021-01-27T23:01:10.205Z,1611788470.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:11.008Z,1611788471.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:11.448Z,1611788471.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:12.237Z,1611788472.237 [Micromodem](INFO): Nmea in: $SNTTA,0.039904,,,,230112.77*44

2021-01-27T23:01:12.271Z,1611788472.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.640003 m, bearing: 193.087303 deg, deltaT: 4.433394 s, approachRate: -0.798486 m/s, LOS rate: 0.288374 deg/s, posRepo size: 4
2021-01-27T23:01:12.273Z,1611788472.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.640003 m,
      bearing: 193.087303 deg,
      approachRate: -0.798486 m/s,
      LOS rate: 0.288374 deg/s,
      cmd update: 1.153495 deg/s,
      cmd heading: 190.753121 deg,
      new cmd heading: 190.551176 deg.

2021-01-27T23:01:14.745Z,1611788474.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:15.475Z,1611788475.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:15.851Z,1611788475.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:16.680Z,1611788476.680 [Micromodem](INFO): Nmea in: $SNTTA,0.037442,,,,230117.23*41

2021-01-27T23:01:16.762Z,1611788476.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 194.320125 deg, deltaT: 4.436195 s, approachRate: -0.730355 m/s, LOS rate: 0.277901 deg/s, posRepo size: 4
2021-01-27T23:01:16.764Z,1611788476.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.400005 m,
      bearing: 194.320125 deg,
      approachRate: -0.730355 m/s,
      LOS rate: 0.277901 deg/s,
      cmd update: 1.111603 deg/s,
      cmd heading: 195.889129 deg,
      new cmd heading: 196.445970 deg.

2021-01-27T23:01:19.093Z,1611788479.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:19.891Z,1611788479.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:20.300Z,1611788480.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:21.137Z,1611788481.137 [Micromodem](INFO): Nmea in: $SNTTA,0.035114,,,,230121.65*42

2021-01-27T23:01:21.151Z,1611788481.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 194.325931 deg, deltaT: 4.495655 s, approachRate: -0.880851 m/s, LOS rate: 0.001291 deg/s, posRepo size: 4
2021-01-27T23:01:21.154Z,1611788481.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.440002 m,
      bearing: 194.325931 deg,
      approachRate: -0.880851 m/s,
      LOS rate: 0.001291 deg/s,
      cmd update: 0.005166 deg/s,
      cmd heading: 200.886775 deg,
      new cmd heading: 201.305407 deg.

2021-01-27T23:01:23.553Z,1611788483.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:24.326Z,1611788484.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:24.760Z,1611788484.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:25.581Z,1611788485.581 [Micromodem](INFO): Nmea in: $SNTTA,0.032732,,0.055349,,230126.08*5B

2021-01-27T23:01:25.606Z,1611788485.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.900002 m, bearing: 193.204632 deg, deltaT: 4.384760 s, approachRate: -0.807342 m/s, LOS rate: -0.255726 deg/s, posRepo size: 4
2021-01-27T23:01:25.632Z,1611788485.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.900002 m,
      bearing: 193.204632 deg,
      approachRate: -0.807342 m/s,
      LOS rate: -0.255726 deg/s,
      cmd update: -1.022905 deg/s,
      cmd heading: 200.909424 deg,
      new cmd heading: 200.911731 deg.

2021-01-27T23:01:28.011Z,1611788488.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:28.787Z,1611788488.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:29.185Z,1611788489.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:29.998Z,1611788489.998 [Micromodem](INFO): Nmea in: $SNTTA,0.030393,,,,230130.54*48

2021-01-27T23:01:30.033Z,1611788490.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 192.524578 deg, deltaT: 4.464950 s, approachRate: -0.779405 m/s, LOS rate: -0.152310 deg/s, posRepo size: 4
2021-01-27T23:01:30.035Z,1611788490.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.419998 m,
      bearing: 192.524578 deg,
      approachRate: -0.779405 m/s,
      LOS rate: -0.152310 deg/s,
      cmd update: -0.609238 deg/s,
      cmd heading: 196.342200 deg,
      new cmd heading: 195.923914 deg.

2021-01-27T23:01:32.443Z,1611788492.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:33.214Z,1611788493.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:33.620Z,1611788493.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:34.461Z,1611788494.461 [Micromodem](INFO): Nmea in: $SNTTA,0.028009,,,0.046830,230134.97*5D

2021-01-27T23:01:34.498Z,1611788494.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.759998 m, bearing: 192.559999 deg, deltaT: 4.421798 s, approachRate: -0.827718 m/s, LOS rate: 0.008011 deg/s, posRepo size: 4
2021-01-27T23:01:34.500Z,1611788494.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.759998 m,
      bearing: 192.559999 deg,
      approachRate: -0.827718 m/s,
      LOS rate: 0.008011 deg/s,
      cmd update: 0.032042 deg/s,
      cmd heading: 193.648264 deg,
      new cmd heading: 193.373265 deg.

2021-01-27T23:01:36.870Z,1611788496.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:37.667Z,1611788497.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:38.076Z,1611788498.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:38.897Z,1611788498.897 [Micromodem](INFO): Nmea in: $SNTTA,0.025686,,,,230139.42*43

2021-01-27T23:01:38.945Z,1611788498.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.060001 m, bearing: 193.667883 deg, deltaT: 4.444401 s, approachRate: -0.607505 m/s, LOS rate: 0.249276 deg/s, posRepo size: 4
2021-01-27T23:01:38.946Z,1611788498.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.06 m.
2021-01-27T23:01:38.952Z,1611788498.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.060001 m,
      bearing: 193.667883 deg,
      approachRate: -0.607505 m/s,
      LOS rate: 0.249276 deg/s,
      cmd update: 0.997105 deg/s,
      cmd heading: 193.790671 deg,
      new cmd heading: 193.805236 deg.

2021-01-27T23:01:39.314Z,1611788499.314 [PowerOnly](INFO): Powering up loadControl
2021-01-27T23:01:41.314Z,1611788501.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:42.110Z,1611788502.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:42.508Z,1611788502.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:43.371Z,1611788503.371 [Micromodem](INFO): Nmea in: $SNTTA,0.023307,,,,230143.87*4D

2021-01-27T23:01:43.421Z,1611788503.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.799999 m, bearing: 191.541222 deg, deltaT: 4.463502 s, approachRate: -0.954408 m/s, LOS rate: -0.476456 deg/s, posRepo size: 4
2021-01-27T23:01:43.422Z,1611788503.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.80 m.
2021-01-27T23:01:43.424Z,1611788503.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.799999 m,
      bearing: 191.541222 deg,
      approachRate: -0.954408 m/s,
      LOS rate: -0.476456 deg/s,
      cmd update: -1.905823 deg/s,
      cmd heading: 198.237205 deg,
      new cmd heading: 198.706882 deg.

2021-01-27T23:01:45.830Z,1611788505.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:46.546Z,1611788506.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:46.948Z,1611788506.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:46.993Z,1611788506.993 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:01:47.813Z,1611788507.813 [Micromodem](INFO): Nmea in: $SNTTA,0.020984,,,,230148.30*48

2021-01-27T23:01:47.871Z,1611788507.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.259998 m, bearing: 193.089707 deg, deltaT: 4.456740 s, approachRate: -0.794303 m/s, LOS rate: 0.347448 deg/s, posRepo size: 4
2021-01-27T23:01:47.877Z,1611788507.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.26 m.
2021-01-27T23:01:47.879Z,1611788507.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.259998 m,
      bearing: 193.089707 deg,
      approachRate: -0.794303 m/s,
      LOS rate: 0.347448 deg/s,
      cmd update: 1.389792 deg/s,
      cmd heading: 189.735863 deg,
      new cmd heading: 188.858337 deg.

2021-01-27T23:01:50.213Z,1611788510.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:50.000Z,1611788511.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:51.416Z,1611788511.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:52.241Z,1611788512.241 [Micromodem](INFO): Nmea in: $SNTTA,0.018679,,,,230152.76*47

2021-01-27T23:01:52.263Z,1611788512.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.779999 m, bearing: 192.082145 deg, deltaT: 4.457622 s, approachRate: -0.780685 m/s, LOS rate: -0.226031 deg/s, posRepo size: 4
2021-01-27T23:01:52.264Z,1611788512.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.78 m.
2021-01-27T23:01:52.266Z,1611788512.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.779999 m,
      bearing: 192.082145 deg,
      approachRate: -0.780685 m/s,
      LOS rate: -0.226031 deg/s,
      cmd update: -0.904125 deg/s,
      cmd heading: 195.931049 deg,
      new cmd heading: 196.479820 deg.

2021-01-27T23:01:54.656Z,1611788514.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:55.434Z,1611788515.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:01:55.854Z,1611788515.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:01:56.685Z,1611788516.685 [Micromodem](INFO): Nmea in: $SNTTA,0.016533,,,,230157.20*42

2021-01-27T23:01:56.760Z,1611788516.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.600000 m, bearing: 193.358284 deg, deltaT: 4.408821 s, approachRate: -0.721281 m/s, LOS rate: 0.289451 deg/s, posRepo size: 4
2021-01-27T23:01:56.760Z,1611788516.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.60 m.
2021-01-27T23:01:56.762Z,1611788516.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.600000 m,
      bearing: 193.358284 deg,
      approachRate: -0.721281 m/s,
      LOS rate: 0.289451 deg/s,
      cmd update: 1.157805 deg/s,
      cmd heading: 191.963345 deg,
      new cmd heading: 191.508807 deg.

2021-01-27T23:01:59.099Z,1611788519.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:01:59.882Z,1611788519.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:00.302Z,1611788520.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:01.125Z,1611788521.125 [Micromodem](INFO): Nmea in: $SNTTA,0.014373,,,,230201.64*42

2021-01-27T23:02:01.167Z,1611788521.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 191.767956 deg, deltaT: 4.477789 s, approachRate: -0.736971 m/s, LOS rate: -0.355159 deg/s, posRepo size: 4
2021-01-27T23:02:01.168Z,1611788521.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.30 m.
2021-01-27T23:02:01.168Z,1611788521.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 21.30 m.
2021-01-27T23:02:01.169Z,1611788521.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-27T23:02:01.170Z,1611788521.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 191.767956 deg,
      approachRate: -0.736971 m/s,
      LOS rate: -0.355159 deg/s,
      cmd update: -1.420636 deg/s,
      cmd heading: 197.166832 deg,
      new cmd heading: 197.648671 deg.

2021-01-27T23:02:03.564Z,1611788523.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:04.318Z,1611788524.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:04.750Z,1611788524.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:05.589Z,1611788525.589 [Micromodem](INFO): Nmea in: $SNTTA,0.012138,,,,230206.08*44

2021-01-27T23:02:05.645Z,1611788525.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.000000 m, bearing: 190.433460 deg, deltaT: 4.417568 s, approachRate: -0.747017 m/s, LOS rate: -0.302088 deg/s, posRepo size: 4
2021-01-27T23:02:05.647Z,1611788525.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.000000 m,
      bearing: 190.433460 deg,
      approachRate: -0.747017 m/s,
      LOS rate: -0.302088 deg/s,
      cmd update: -1.208354 deg/s,
      cmd heading: 190.908050 deg,
      new cmd heading: 190.243255 deg.

2021-01-27T23:02:08.011Z,1611788528.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:08.989Z,1611788528.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:09.264Z,1611788529.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:10.102Z,1611788530.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 189.640011 deg, deltaT: 4.522852 s, approachRate: -0.795958 m/s, LOS rate: -0.175431 deg/s, posRepo size: 4
2021-01-27T23:02:10.104Z,1611788530.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 189.640011 deg,
      approachRate: -0.795958 m/s,
      LOS rate: -0.175431 deg/s,
      cmd update: -0.701725 deg/s,
      cmd heading: 185.429141 deg,
      new cmd heading: 184.932544 deg.

2021-01-27T23:02:10.488Z,1611788530.488 [Micromodem](INFO): Nmea in: $SNTTA,0.009756,,,,230210.74*4C

2021-01-27T23:02:12.530Z,1611788532.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:13.298Z,1611788533.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:13.736Z,1611788533.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:14.545Z,1611788534.545 [Micromodem](INFO): Nmea in: $SNTTA,0.007625,,,0.010144,230215.05*5A

2021-01-27T23:02:14.587Z,1611788534.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.220001 m, bearing: 190.043265 deg, deltaT: 4.422989 s, approachRate: -0.718971 m/s, LOS rate: 0.091172 deg/s, posRepo size: 4
2021-01-27T23:02:14.589Z,1611788534.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 190.043265 deg,
      approachRate: -0.718971 m/s,
      LOS rate: 0.091172 deg/s,
      cmd update: 0.364689 deg/s,
      cmd heading: 182.322156 deg,
      new cmd heading: 181.993251 deg.

2021-01-27T23:02:16.987Z,1611788536.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:17.770Z,1611788537.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:18.160Z,1611788538.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:18.990Z,1611788538.990 [Micromodem](INFO): Nmea in: $SNTTA,0.005578,,,,230219.53*42

2021-01-27T23:02:19.028Z,1611788539.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.160001 m, bearing: 193.467403 deg, deltaT: 4.456582 s, approachRate: -0.686625 m/s, LOS rate: 0.768333 deg/s, posRepo size: 4
2021-01-27T23:02:19.030Z,1611788539.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.160001 m,
      bearing: 193.467403 deg,
      approachRate: -0.686625 m/s,
      LOS rate: 0.768333 deg/s,
      cmd update: 3.073331 deg/s,
      cmd heading: 183.947415 deg,
      new cmd heading: 184.112447 deg.

2021-01-27T23:02:21.442Z,1611788541.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:22.191Z,1611788542.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:22.600Z,1611788542.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:23.449Z,1611788543.449 [Micromodem](INFO): Nmea in: $SNTTA,0.003547,,,,230223.95*4B

2021-01-27T23:02:23.502Z,1611788543.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 200.087455 deg, deltaT: 4.452014 s, approachRate: -0.687330 m/s, LOS rate: 1.486979 deg/s, posRepo size: 4
2021-01-27T23:02:23.505Z,1611788543.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 200.087455 deg,
      approachRate: -0.687330 m/s,
      LOS rate: 1.486979 deg/s,
      cmd update: 5.947916 deg/s,
      cmd heading: 197.629931 deg,
      new cmd heading: 199.089191 deg.

2021-01-27T23:02:25.860Z,1611788545.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:26.634Z,1611788546.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:27.041Z,1611788547.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:27.882Z,1611788547.882 [Micromodem](INFO): Nmea in: $SNTTA,0.001925,,0.027669,,230228.39*5E

2021-01-27T23:02:27.921Z,1611788547.921 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T23:02:27.921Z,1611788547.921 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T23:02:27.922Z,1611788547.922 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T23:02:27.922Z,1611788547.922 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:02:27.922Z,1611788547.922 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T23:02:27.922Z,1611788547.922 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.580000 m 
2021-01-27T23:02:27.922Z,1611788547.922 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T23:02:27.922Z,1611788547.922 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T23:02:27.922Z,1611788547.922 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T23:02:27.925Z,1611788547.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 213.353417 deg, deltaT: 4.436209 s, approachRate: -0.568053 m/s, LOS rate: 2.990383 deg/s, posRepo size: 4
2021-01-27T23:02:27.927Z,1611788547.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 213.353417 deg,
      approachRate: -0.568053 m/s,
      LOS rate: 2.990383 deg/s,
      cmd update: 11.961530 deg/s,
      cmd heading: 224.015886 deg,
      new cmd heading: 226.760683 deg.

2021-01-27T23:02:28.286Z,1611788548.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T230228: (41.551998, -70.709610)
2021-01-27T23:02:28.286Z,1611788548.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T23:02:28.287Z,1611788548.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T23:02:28.287Z,1611788548.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:02:28.287Z,1611788548.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T23:02:28.287Z,1611788548.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:02:28.287Z,1611788548.287 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T23:02:28.287Z,1611788548.287 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T23:02:28.287Z,1611788548.287 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T23:02:30.297Z,1611788550.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:31.090Z,1611788551.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:31.488Z,1611788551.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:32.320Z,1611788552.320 [Micromodem](INFO): Nmea in: $SNTTA,0.001932,,0.029138,,230232.85*59

2021-01-27T23:02:32.389Z,1611788552.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.940000 m, bearing: 229.355621 deg, deltaT: 4.446981 s, approachRate: 0.080954 m/s, LOS rate: 3.598442 deg/s, posRepo size: 4
2021-01-27T23:02:32.391Z,1611788552.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 229.355621 deg,
      approachRate: 0.080954 m/s,
      LOS rate: 3.598442 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.209385 deg,
      new cmd heading: 282.938910 deg.

2021-01-27T23:02:34.776Z,1611788554.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:35.530Z,1611788555.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:35.928Z,1611788555.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:36.781Z,1611788556.781 [Micromodem](INFO): Nmea in: $SNTTA,0.004070,,,,230237.29*4F

2021-01-27T23:02:36.828Z,1611788556.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 202.862807 deg, deltaT: 4.482092 s, approachRate: 0.642557 m/s, LOS rate: -5.910815 deg/s, posRepo size: 4
2021-01-27T23:02:36.830Z,1611788556.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 202.862807 deg,
      approachRate: 0.642557 m/s,
      LOS rate: -5.910815 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 330.986943 deg,
      new cmd heading: 336.221547 deg.

2021-01-27T23:02:39.182Z,1611788559.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:39.967Z,1611788559.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:40.380Z,1611788560.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:41.213Z,1611788561.213 [Micromodem](INFO): Nmea in: $SNTTA,0.007460,,,,230241.72*46

2021-01-27T23:02:41.235Z,1611788561.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.220001 m, bearing: 211.965864 deg, deltaT: 4.425237 s, approachRate: 1.220274 m/s, LOS rate: 2.057078 deg/s, posRepo size: 4
2021-01-27T23:02:41.237Z,1611788561.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 211.965864 deg,
      approachRate: 1.220274 m/s,
      LOS rate: 2.057078 deg/s,
      cmd update: 8.228312 deg/s,
      cmd heading: 277.876765 deg,
      new cmd heading: 272.869297 deg.

2021-01-27T23:02:43.636Z,1611788563.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:44.418Z,1611788564.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:44.828Z,1611788564.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:45.653Z,1611788565.653 [Micromodem](INFO): Nmea in: $SNTTA,0.007658,,,,230246.17*4B

2021-01-27T23:02:45.689Z,1611788565.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.680001 m, bearing: 278.225570 deg, deltaT: 4.435998 s, approachRate: 0.554554 m/s, LOS rate: 14.936821 deg/s, posRepo size: 4
2021-01-27T23:02:45.691Z,1611788565.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.936821 deg/s. Setting heading cmd to target bearing of 278.225570deg and heading rate command to 0 deg/s.
2021-01-27T23:02:48.092Z,1611788568.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:48.858Z,1611788568.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:49.274Z,1611788569.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:50.117Z,1611788570.117 [Micromodem](INFO): Nmea in: $SNTTA,0.009081,,,,230250.62*42

2021-01-27T23:02:50.153Z,1611788570.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 326.120988 deg, deltaT: 4.500953 s, approachRate: -0.013331 m/s, LOS rate: 10.641173 deg/s, posRepo size: 4
2021-01-27T23:02:50.155Z,1611788570.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.619998 m,
      bearing: 326.120988 deg,
      approachRate: -0.013331 m/s,
      LOS rate: 10.641173 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 278.225570 deg,
      new cmd heading: 278.225570 deg.

2021-01-27T23:02:52.539Z,1611788572.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:53.311Z,1611788573.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:53.726Z,1611788573.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:54.545Z,1611788574.545 [Micromodem](INFO): Nmea in: $SNTTA,0.010633,,,,230255.07*43

2021-01-27T23:02:54.570Z,1611788574.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.960001 m, bearing: 336.458151 deg, deltaT: 4.381981 s, approachRate: 0.534006 m/s, LOS rate: 2.359016 deg/s, posRepo size: 4
2021-01-27T23:02:54.572Z,1611788574.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 336.458151 deg,
      approachRate: 0.534006 m/s,
      LOS rate: 2.359016 deg/s,
      cmd update: 9.436064 deg/s,
      cmd heading: 330.857871 deg,
      new cmd heading: 336.056452 deg.

2021-01-27T23:02:56.973Z,1611788576.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:02:57.770Z,1611788577.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:02:58.152Z,1611788578.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:02:58.967Z,1611788578.967 [Micromodem](INFO): Nmea in: $SNTTA,0.013364,,,,230259.53*4A

2021-01-27T23:02:59.016Z,1611788579.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.100002 m, bearing: 307.040335 deg, deltaT: 4.466843 s, approachRate: 0.926829 m/s, LOS rate: -6.585818 deg/s, posRepo size: 4
2021-01-27T23:02:59.018Z,1611788579.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.100002 m,
      bearing: 307.040335 deg,
      approachRate: 0.926829 m/s,
      LOS rate: -6.585818 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 12.980877 deg,
      new cmd heading: 16.899882 deg.

2021-01-27T23:03:01.428Z,1611788581.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:02.190Z,1611788582.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:02.601Z,1611788582.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:03.445Z,1611788583.445 [Micromodem](INFO): Nmea in: $SNTTA,0.014419,,,,230303.95*44

2021-01-27T23:03:03.470Z,1611788583.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 314.272057 deg, deltaT: 4.433016 s, approachRate: 0.351904 m/s, LOS rate: 1.631332 deg/s, posRepo size: 4
2021-01-27T23:03:03.472Z,1611788583.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.659998 m,
      bearing: 314.272057 deg,
      approachRate: 0.351904 m/s,
      LOS rate: 1.631332 deg/s,
      cmd update: 6.525329 deg/s,
      cmd heading: 319.751300 deg,
      new cmd heading: 314.544068 deg.

2021-01-27T23:03:05.847Z,1611788585.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:06.639Z,1611788586.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:07.040Z,1611788587.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:07.873Z,1611788587.873 [Micromodem](INFO): Nmea in: $SNTTA,0.015827,,,,230308.40*47

2021-01-27T23:03:07.909Z,1611788587.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 16.944285 deg, deltaT: 4.455038 s, approachRate: 0.484844 m/s, LOS rate: 14.067719 deg/s, posRepo size: 4
2021-01-27T23:03:07.909Z,1611788587.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 23.82 m. Rolling out.
2021-01-27T23:03:07.910Z,1611788587.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-27T23:03:10.295Z,1611788590.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:11.074Z,1611788591.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:11.486Z,1611788591.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:12.313Z,1611788592.313 [Micromodem](INFO): Nmea in: $SNTTA,0.017072,,,,230312.83*49

2021-01-27T23:03:12.335Z,1611788592.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.679996 m, bearing: 10.064768 deg, deltaT: 4.430774 s, approachRate: 0.419791 m/s, LOS rate: -1.552667 deg/s, posRepo size: 4
2021-01-27T23:03:13.921Z,1611788593.921 [PowerOnly](INFO): Powering down loadControl
2021-01-27T23:03:14.789Z,1611788594.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:15.518Z,1611788595.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:15.929Z,1611788595.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:16.777Z,1611788596.777 [Micromodem](INFO): Nmea in: $SNTTA,0.018188,0.039738,,,230317.28*5E

2021-01-27T23:03:16.839Z,1611788596.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.259996 m, bearing: 356.017381 deg, deltaT: 4.463606 s, approachRate: 0.578008 m/s, LOS rate: -3.147095 deg/s, posRepo size: 4
2021-01-27T23:03:19.182Z,1611788599.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:19.971Z,1611788599.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:20.390Z,1611788600.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:21.217Z,1611788601.217 [Micromodem](INFO): Nmea in: $SNTTA,0.020333,,,,230321.73*44

2021-01-27T23:03:21.257Z,1611788601.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.440002 m, bearing: 0.366079 deg, deltaT: 4.434501 s, approachRate: 0.717106 m/s, LOS rate: 0.980649 deg/s, posRepo size: 4
2021-01-27T23:03:23.640Z,1611788603.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:24.422Z,1611788604.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:24.825Z,1611788604.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:25.661Z,1611788605.661 [Micromodem](INFO): Nmea in: $SNTTA,0.021236,,,,230326.18*4B

2021-01-27T23:03:25.694Z,1611788605.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 33.804546 deg, deltaT: 4.428973 s, approachRate: 0.108377 m/s, LOS rate: 7.549937 deg/s, posRepo size: 4
2021-01-27T23:03:28.080Z,1611788608.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:28.952Z,1611788608.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:29.272Z,1611788609.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:30.122Z,1611788610.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 14.348586 deg, deltaT: 4.500121 s, approachRate: 0.493319 m/s, LOS rate: -4.323430 deg/s, posRepo size: 4
2021-01-27T23:03:30.481Z,1611788610.481 [Micromodem](INFO): Nmea in: $SNTTA,0.022698,,,,230330.71*40

2021-01-27T23:03:32.567Z,1611788612.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:33.286Z,1611788613.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:33.733Z,1611788613.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:34.545Z,1611788614.545 [Micromodem](INFO): Nmea in: $SNTTA,0.024425,,,,230335.04*45

2021-01-27T23:03:34.570Z,1611788614.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.660000 m, bearing: 12.047256 deg, deltaT: 4.395743 s, approachRate: 0.573283 m/s, LOS rate: -0.523536 deg/s, posRepo size: 4
2021-01-27T23:03:36.954Z,1611788616.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:37.774Z,1611788617.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:38.152Z,1611788618.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:38.986Z,1611788618.986 [Micromodem](INFO): Nmea in: $SNTTA,0.026799,,,,230339.53*4D

2021-01-27T23:03:39.033Z,1611788619.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.980000 m, bearing: 359.839063 deg, deltaT: 4.425921 s, approachRate: 0.976068 m/s, LOS rate: -2.758338 deg/s, posRepo size: 4
2021-01-27T23:03:41.425Z,1611788621.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:42.182Z,1611788622.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:42.588Z,1611788622.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:43.441Z,1611788623.441 [Micromodem](INFO): Nmea in: $SNTTA,0.028152,,,,230343.94*44

2021-01-27T23:03:43.467Z,1611788623.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.360001 m, bearing: 21.154431 deg, deltaT: 4.462407 s, approachRate: 0.309250 m/s, LOS rate: 4.776653 deg/s, posRepo size: 4
2021-01-27T23:03:45.856Z,1611788625.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:46.634Z,1611788626.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:47.036Z,1611788627.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:47.873Z,1611788627.873 [Micromodem](INFO): Nmea in: $SNTTA,0.030988,,,,230348.39*4E

2021-01-27T23:03:47.908Z,1611788627.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.380001 m, bearing: 17.348257 deg, deltaT: 4.453223 s, approachRate: 0.902717 m/s, LOS rate: -0.854701 deg/s, posRepo size: 4
2021-01-27T23:03:50.277Z,1611788630.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:51.070Z,1611788631.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:51.488Z,1611788631.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:52.321Z,1611788632.321 [Micromodem](INFO): Nmea in: $SNTTA,0.032514,,0.042725,,230352.83*57

2021-01-27T23:03:52.386Z,1611788632.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.599995 m, bearing: 40.203771 deg, deltaT: 4.431627 s, approachRate: 0.500943 m/s, LOS rate: 5.157364 deg/s, posRepo size: 4
2021-01-27T23:03:54.799Z,1611788634.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:55.510Z,1611788635.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:03:55.924Z,1611788635.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:03:56.781Z,1611788636.781 [Micromodem](INFO): Nmea in: $SNTTA,0.034361,,,,230357.27*46

2021-01-27T23:03:56.805Z,1611788636.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.600002 m, bearing: 343.025132 deg, deltaT: 4.497207 s, approachRate: 0.667082 m/s, LOS rate: -12.714257 deg/s, posRepo size: 4
2021-01-27T23:03:59.189Z,1611788639.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:03:59.963Z,1611788639.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:00.387Z,1611788640.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:01.206Z,1611788641.206 [Micromodem](INFO): Nmea in: $SNTTA,0.036475,,0.049250,,230401.72*56

2021-01-27T23:04:01.220Z,1611788641.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.840000 m, bearing: 333.470599 deg, deltaT: 4.399454 s, approachRate: 0.736455 m/s, LOS rate: -2.171754 deg/s, posRepo size: 4
2021-01-27T23:04:03.631Z,1611788643.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:04.438Z,1611788644.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:04.808Z,1611788644.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:05.657Z,1611788645.657 [Micromodem](INFO): Nmea in: $SNTTA,0.038701,,,,230406.20*4C

2021-01-27T23:04:05.729Z,1611788645.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.139999 m, bearing: 337.041859 deg, deltaT: 4.418043 s, approachRate: 0.746937 m/s, LOS rate: 0.808335 deg/s, posRepo size: 4
2021-01-27T23:04:08.071Z,1611788648.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:08.843Z,1611788648.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:09.261Z,1611788649.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:10.093Z,1611788650.093 [Micromodem](INFO): Nmea in: $SNTTA,0.041099,,,,230410.60*47

2021-01-27T23:04:10.118Z,1611788650.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 337.501804 deg, deltaT: 4.517462 s, approachRate: 0.916444 m/s, LOS rate: 0.101815 deg/s, posRepo size: 4
2021-01-27T23:04:12.515Z,1611788652.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:13.286Z,1611788653.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:13.696Z,1611788653.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:14.541Z,1611788654.541 [Micromodem](INFO): Nmea in: $SNTTA,0.043002,,,,230415.04*40

2021-01-27T23:04:14.566Z,1611788654.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.620003 m, bearing: 346.503747 deg, deltaT: 4.362498 s, approachRate: 0.536391 m/s, LOS rate: 2.063484 deg/s, posRepo size: 4
2021-01-27T23:04:16.962Z,1611788656.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:17.758Z,1611788657.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:18.148Z,1611788658.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:18.974Z,1611788658.974 [Micromodem](INFO): Nmea in: $SNTTA,0.045257,,,,230419.51*48

2021-01-27T23:04:19.019Z,1611788659.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.040001 m, bearing: 341.724773 deg, deltaT: 4.453918 s, approachRate: 0.767863 m/s, LOS rate: -1.072982 deg/s, posRepo size: 4
2021-01-27T23:04:21.414Z,1611788661.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:22.183Z,1611788662.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:22.584Z,1611788662.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:23.445Z,1611788663.445 [Micromodem](INFO): Nmea in: $SNTTA,0.047451,,,,230423.94*4A

2021-01-27T23:04:23.470Z,1611788663.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.280006 m, bearing: 336.767012 deg, deltaT: 4.463105 s, approachRate: 0.725953 m/s, LOS rate: -1.110832 deg/s, posRepo size: 4
2021-01-27T23:04:25.850Z,1611788665.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:26.634Z,1611788666.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:27.040Z,1611788667.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:27.873Z,1611788667.873 [Micromodem](INFO): Nmea in: $SNTTA,0.049697,,,,230428.39*40

2021-01-27T23:04:27.913Z,1611788667.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 338.509503 deg, deltaT: 4.429558 s, approachRate: 0.758539 m/s, LOS rate: 0.393378 deg/s, posRepo size: 4
2021-01-27T23:04:30.273Z,1611788670.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:31.066Z,1611788671.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:31.476Z,1611788671.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:32.305Z,1611788672.305 [Micromodem](INFO): Nmea in: $SNTTA,0.052235,,,,230432.82*4D

2021-01-27T23:04:32.385Z,1611788672.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.000000 m, bearing: 339.192631 deg, deltaT: 4.475267 s, approachRate: 0.750793 m/s, LOS rate: 0.152645 deg/s, posRepo size: 4
2021-01-27T23:04:34.765Z,1611788674.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:35.515Z,1611788675.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:35.916Z,1611788675.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:36.773Z,1611788676.773 [Micromodem](INFO): Nmea in: $SNTTA,0.054219,,,,230437.27*4F

2021-01-27T23:04:36.831Z,1611788676.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.480003 m, bearing: 333.090212 deg, deltaT: 4.445690 s, approachRate: 0.782781 m/s, LOS rate: -1.372660 deg/s, posRepo size: 4
2021-01-27T23:04:39.157Z,1611788679.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:39.959Z,1611788679.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:40.388Z,1611788680.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:41.185Z,1611788681.185 [Micromodem](INFO): Nmea in: $SNTTA,0.056519,,,,230441.72*4B

2021-01-27T23:04:41.218Z,1611788681.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.900009 m, bearing: 337.214909 deg, deltaT: 4.435230 s, approachRate: 0.771100 m/s, LOS rate: 0.929985 deg/s, posRepo size: 4
2021-01-27T23:04:43.627Z,1611788683.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:44.414Z,1611788684.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:44.804Z,1611788684.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:45.641Z,1611788685.641 [Micromodem](INFO): Nmea in: $SNTTA,0.058741,,,,230446.17*4E

2021-01-27T23:04:45.750Z,1611788685.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.260002 m, bearing: 329.026495 deg, deltaT: 4.400695 s, approachRate: 0.763514 m/s, LOS rate: -1.860709 deg/s, posRepo size: 4
2021-01-27T23:04:48.059Z,1611788688.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:48.840Z,1611788688.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:49.240Z,1611788689.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:50.085Z,1611788690.085 [Micromodem](INFO): Nmea in: $SNTTA,0.060892,,,,230450.60*43

2021-01-27T23:04:50.109Z,1611788690.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.440002 m, bearing: 327.494457 deg, deltaT: 4.458107 s, approachRate: 0.713307 m/s, LOS rate: -0.343652 deg/s, posRepo size: 4
2021-01-27T23:04:52.495Z,1611788692.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:53.282Z,1611788693.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:53.692Z,1611788693.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:54.521Z,1611788694.521 [Micromodem](INFO): Nmea in: $SNTTA,0.063146,,,,230455.04*47

2021-01-27T23:04:54.545Z,1611788694.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.860001 m, bearing: 322.191880 deg, deltaT: 4.430118 s, approachRate: 0.771988 m/s, LOS rate: -1.196938 deg/s, posRepo size: 4
2021-01-27T23:04:56.980Z,1611788696.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:04:57.746Z,1611788697.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:04:58.132Z,1611788698.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:04:58.966Z,1611788698.966 [Micromodem](INFO): Nmea in: $SNTTA,0.065352,,,,230459.50*4B

2021-01-27T23:04:59.015Z,1611788699.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.159996 m, bearing: 325.847179 deg, deltaT: 4.454042 s, approachRate: 0.740899 m/s, LOS rate: 0.820670 deg/s, posRepo size: 4
2021-01-27T23:05:01.417Z,1611788701.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:02.170Z,1611788702.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:02.572Z,1611788702.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:03.461Z,1611788703.461 [Micromodem](INFO): Nmea in: $SNTTA,0.067732,,,,230503.93*4A

2021-01-27T23:05:03.506Z,1611788703.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.699997 m, bearing: 314.421803 deg, deltaT: 4.478416 s, approachRate: 0.790458 m/s, LOS rate: -2.551209 deg/s, posRepo size: 4
2021-01-27T23:05:05.860Z,1611788705.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:06.626Z,1611788706.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:07.028Z,1611788707.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:07.865Z,1611788707.865 [Micromodem](INFO): Nmea in: $SNTTA,0.069953,,,,230508.38*47

2021-01-27T23:05:07.901Z,1611788707.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.000000 m, bearing: 323.041802 deg, deltaT: 4.437573 s, approachRate: 0.743650 m/s, LOS rate: 1.942503 deg/s, posRepo size: 4
2021-01-27T23:05:10.273Z,1611788710.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:11.062Z,1611788711.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:11.468Z,1611788711.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:12.309Z,1611788712.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230512.82*53

2021-01-27T23:05:12.338Z,1611788712.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 349.009525 deg, deltaT: 4.435570 s, approachRate: 0.743986 m/s, LOS rate: 5.854427 deg/s, posRepo size: 4
2021-01-27T23:05:14.777Z,1611788714.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:15.514Z,1611788715.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:15.916Z,1611788715.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:16.905Z,1611788716.905 [Micromodem](INFO): Nmea in: $SNTTA,0.074464,,,,230517.27*42

2021-01-27T23:05:16.959Z,1611788716.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.320007 m, bearing: 333.703727 deg, deltaT: 4.458381 s, approachRate: 0.901674 m/s, LOS rate: -3.433040 deg/s, posRepo size: 4
2021-01-27T23:05:18.876Z,1611788718.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:19.632Z,1611788719.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:20.036Z,1611788720.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:20.865Z,1611788720.865 [Micromodem](INFO): Nmea in: $SNTTA,0.076491,,,,230521.39*40

2021-01-27T23:05:20.904Z,1611788720.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.839996 m, bearing: 345.413759 deg, deltaT: 4.106120 s, approachRate: 0.613715 m/s, LOS rate: 2.851848 deg/s, posRepo size: 4
2021-01-27T23:05:23.273Z,1611788723.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:24.070Z,1611788724.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:24.472Z,1611788724.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:25.322Z,1611788725.322 [Micromodem](INFO): Nmea in: $SNTTA,0.078738,,,,230525.83*4B

2021-01-27T23:05:25.377Z,1611788725.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 301.580992 deg, deltaT: 4.477656 s, approachRate: 0.750393 m/s, LOS rate: -9.789222 deg/s, posRepo size: 4
2021-01-27T23:05:27.813Z,1611788727.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:28.510Z,1611788728.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:28.924Z,1611788728.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:29.781Z,1611788729.781 [Micromodem](INFO): Nmea in: $SNTTA,0.080953,,,,230530.27*45

2021-01-27T23:05:29.832Z,1611788729.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.560005 m, bearing: 295.161352 deg, deltaT: 4.453932 s, approachRate: 0.754391 m/s, LOS rate: -1.441342 deg/s, posRepo size: 4
2021-01-27T23:05:32.177Z,1611788732.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:32.958Z,1611788732.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:33.382Z,1611788733.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:34.209Z,1611788734.209 [Micromodem](INFO): Nmea in: $SNTTA,0.083327,,,,230534.72*4B

2021-01-27T23:05:34.224Z,1611788734.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.159996 m, bearing: 320.943322 deg, deltaT: 4.420452 s, approachRate: 0.814394 m/s, LOS rate: 5.832428 deg/s, posRepo size: 4
2021-01-27T23:05:36.638Z,1611788736.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:37.422Z,1611788737.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:37.805Z,1611788737.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:38.638Z,1611788738.638 [Micromodem](INFO): Nmea in: $SNTTA,0.085611,0.100368,,,230539.18*5E

2021-01-27T23:05:38.668Z,1611788738.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.520004 m, bearing: 352.488687 deg, deltaT: 4.412252 s, approachRate: 0.761518 m/s, LOS rate: 7.149493 deg/s, posRepo size: 4
2021-01-27T23:05:40.743Z,1611788740.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:41.443Z,1611788741.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:41.855Z,1611788741.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:42.689Z,1611788742.689 [Micromodem](INFO): Nmea in: $SNTTA,0.087651,,,,230543.20*4C

2021-01-27T23:05:42.770Z,1611788742.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.580002 m, bearing: 341.012111 deg, deltaT: 4.026168 s, approachRate: 0.760027 m/s, LOS rate: -2.850496 deg/s, posRepo size: 4
2021-01-27T23:05:45.135Z,1611788745.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:45.882Z,1611788745.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:46.292Z,1611788746.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:47.129Z,1611788747.129 [Micromodem](INFO): Nmea in: $SNTTA,0.089947,,,,230547.64*4E

2021-01-27T23:05:47.182Z,1611788747.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 298.064565 deg, deltaT: 4.501392 s, approachRate: 0.773093 m/s, LOS rate: -9.540948 deg/s, posRepo size: 4
2021-01-27T23:05:49.532Z,1611788749.532 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:05:49.547Z,1611788749.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:50.327Z,1611788750.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:50.764Z,1611788750.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:51.562Z,1611788751.562 [Micromodem](INFO): Nmea in: $SNTTA,0.092353,,0.099670,,230552.08*5A

2021-01-27T23:05:52.401Z,1611788752.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:53.961Z,1611788753.961 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:05:55.197Z,1611788755.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:05:55.984Z,1611788755.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:05:56.420Z,1611788756.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:05:57.341Z,1611788757.341 [Micromodem](INFO): Nmea in: $SNTTA,0.095326,,,,230557.74*4E

2021-01-27T23:05:57.398Z,1611788757.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.220001 m, bearing: 339.935045 deg, deltaT: 10.059684 s, approachRate: 0.811159 m/s, LOS rate: 4.162206 deg/s, posRepo size: 4
2021-01-27T23:05:59.647Z,1611788759.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:00.431Z,1611788760.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:00.842Z,1611788760.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:01.680Z,1611788761.680 [Micromodem](INFO): Nmea in: $SNTTA,0.097596,,,,230602.19*49

2021-01-27T23:06:01.754Z,1611788761.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.520004 m, bearing: 344.397454 deg, deltaT: 4.446655 s, approachRate: 0.742132 m/s, LOS rate: 1.003543 deg/s, posRepo size: 4
2021-01-27T23:06:04.103Z,1611788764.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:04.877Z,1611788764.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:05.288Z,1611788765.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:06.111Z,1611788766.111 [Micromodem](INFO): Nmea in: $SNTTA,0.099889,,,,230606.63*4D

2021-01-27T23:06:06.895Z,1611788766.895 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:06:06.944Z,1611788766.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:08.512Z,1611788768.512 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:06:09.788Z,1611788769.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:10.667Z,1611788770.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:11.020Z,1611788771.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:11.847Z,1611788771.847 [Micromodem](INFO): Nmea in: $SNTTA,0.102849,,,,230612.43*45

2021-01-27T23:06:11.916Z,1611788771.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.380005 m, bearing: 353.895378 deg, deltaT: 10.249970 s, approachRate: 0.766832 m/s, LOS rate: 0.926629 deg/s, posRepo size: 4
2021-01-27T23:06:11.916Z,1611788771.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 154.38 m. Resuming terminal guidance.
2021-01-27T23:06:11.917Z,1611788771.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-27T23:06:14.245Z,1611788774.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:15.042Z,1611788775.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:15.448Z,1611788775.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:15.869Z,1611788775.869 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:06:16.281Z,1611788776.281 [Micromodem](INFO): Nmea in: $SNTTA,0.105221,,,,230616.80*4D

2021-01-27T23:06:16.303Z,1611788776.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.979996 m, bearing: 346.581038 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-27T23:06:16.304Z,1611788776.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 346.581038deg and heading rate command to 0 deg/s.
2021-01-27T23:06:18.754Z,1611788778.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:19.478Z,1611788779.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:19.884Z,1611788779.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:20.751Z,1611788780.751 [Micromodem](INFO): Nmea in: $SNTTA,0.107543,,,,230621.23*41

2021-01-27T23:06:20.832Z,1611788780.832 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-01-27T23:06:20.832Z,1611788780.832 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-01-27T23:06:20.832Z,1611788780.832 [RDI_PathfinderUp](ERROR): Communications Fault
2021-01-27T23:06:20.977Z,1611788780.977 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-01-27T23:06:21.168Z,1611788781.168 [RDI_PathfinderUp](INFO): Powering down
2021-01-27T23:06:21.543Z,1611788781.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:22.032Z,1611788782.032 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-01-27T23:06:22.032Z,1611788782.032 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-01-27T23:06:23.113Z,1611788783.113 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:06:24.475Z,1611788784.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:25.207Z,1611788785.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:25.568Z,1611788785.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:26.769Z,1611788786.769 [Micromodem](INFO): Nmea in: $SNTTA,0.110678,,,,230626.96*45

2021-01-27T23:06:26.790Z,1611788786.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.139999 m, bearing: 340.571701 deg, deltaT: 10.578211 s, approachRate: 0.771397 m/s, LOS rate: -0.568086 deg/s, posRepo size: 2
2021-01-27T23:06:26.819Z,1611788786.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.139999 m,
      bearing: 340.571701 deg,
      approachRate: 0.771397 m/s,
      LOS rate: -0.568086 deg/s,
      cmd update: -2.272345 deg/s,
      cmd heading: 346.581038 deg,
      new cmd heading: 346.581038 deg.

2021-01-27T23:06:29.201Z,1611788789.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:29.984Z,1611788789.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:30.416Z,1611788790.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:31.225Z,1611788791.225 [Micromodem](INFO): Nmea in: $SNTTA,0.113123,,,,230631.74*45

2021-01-27T23:06:31.259Z,1611788791.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.139999 m, bearing: 290.447757 deg, deltaT: 4.370058 s, approachRate: 0.000000 m/s, LOS rate: -11.469858 deg/s, posRepo size: 3
2021-01-27T23:06:31.260Z,1611788791.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.469858 deg/s. Setting heading cmd to target bearing of 290.447757deg and heading rate command to 0 deg/s.
2021-01-27T23:06:33.656Z,1611788793.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:34.426Z,1611788794.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:34.840Z,1611788794.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:35.665Z,1611788795.665 [Micromodem](INFO): Nmea in: $SNTTA,0.115636,,,,230636.19*4C

2021-01-27T23:06:36.497Z,1611788796.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:37.722Z,1611788797.722 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:06:39.382Z,1611788799.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:40.110Z,1611788800.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:40.492Z,1611788800.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:41.329Z,1611788801.329 [Micromodem](INFO): Nmea in: $SNTTA,0.118366,,,,230641.87*46

2021-01-27T23:06:41.753Z,1611788801.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 313.146524 deg, deltaT: 10.579690 s, approachRate: 1.094550 m/s, LOS rate: 2.145504 deg/s, posRepo size: 4
2021-01-27T23:06:41.755Z,1611788801.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.720001 m,
      bearing: 313.146524 deg,
      approachRate: 1.094550 m/s,
      LOS rate: 2.145504 deg/s,
      cmd update: 8.582017 deg/s,
      cmd heading: 290.447757 deg,
      new cmd heading: 290.447757 deg.

2021-01-27T23:06:44.201Z,1611788804.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:44.935Z,1611788804.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:45.339Z,1611788805.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:46.192Z,1611788806.192 [Micromodem](INFO): Nmea in: $SNTTA,0.120439,,,,230646.69*47

2021-01-27T23:06:46.230Z,1611788806.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 298.323538 deg, deltaT: 4.374944 s, approachRate: 0.000000 m/s, LOS rate: -3.388154 deg/s, posRepo size: 4
2021-01-27T23:06:46.233Z,1611788806.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.720001 m,
      bearing: 298.323538 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.388154 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 327.985523 deg,
      new cmd heading: 331.856372 deg.

2021-01-27T23:06:48.612Z,1611788808.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:49.390Z,1611788809.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:49.796Z,1611788809.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:50.600Z,1611788810.600 [Micromodem](INFO): Nmea in: $SNTTA,0.122486,,,,230651.15*4C

2021-01-27T23:06:51.031Z,1611788811.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.899994 m, bearing: 284.211466 deg, deltaT: 4.868808 s, approachRate: 1.269303 m/s, LOS rate: -2.898465 deg/s, posRepo size: 4
2021-01-27T23:06:51.033Z,1611788811.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.899994 m,
      bearing: 284.211466 deg,
      approachRate: 1.269303 m/s,
      LOS rate: -2.898465 deg/s,
      cmd update: -11.593862 deg/s,
      cmd heading: 269.603673 deg,
      new cmd heading: 264.962060 deg.

2021-01-27T23:06:53.471Z,1611788813.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:54.230Z,1611788814.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:54.636Z,1611788814.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:06:55.464Z,1611788815.464 [Micromodem](INFO): Nmea in: $SNTTA,0.124968,,,,230655.99*47

2021-01-27T23:06:55.875Z,1611788815.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.619980 m, bearing: 294.353204 deg, deltaT: 4.868540 s, approachRate: 0.764087 m/s, LOS rate: 2.083117 deg/s, posRepo size: 4
2021-01-27T23:06:55.877Z,1611788815.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.619980 m,
      bearing: 294.353204 deg,
      approachRate: 0.764087 m/s,
      LOS rate: 2.083117 deg/s,
      cmd update: 8.332468 deg/s,
      cmd heading: 213.055307 deg,
      new cmd heading: 208.962257 deg.

2021-01-27T23:06:58.311Z,1611788818.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:06:59.070Z,1611788819.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:06:59.476Z,1611788819.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:00.308Z,1611788820.308 [Micromodem](INFO): Nmea in: $SNTTA,0.127215,,,,230700.83*4F

2021-01-27T23:07:00.775Z,1611788820.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 275.270093 deg, deltaT: 4.875457 s, approachRate: 0.738397 m/s, LOS rate: -3.914118 deg/s, posRepo size: 4
2021-01-27T23:07:00.781Z,1611788820.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.220001 m,
      bearing: 275.270093 deg,
      approachRate: 0.738397 m/s,
      LOS rate: -3.914118 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.679754 deg,
      new cmd heading: 256.827094 deg.

2021-01-27T23:07:03.126Z,1611788823.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:03.923Z,1611788823.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:04.327Z,1611788824.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:05.276Z,1611788825.276 [Micromodem](INFO): Nmea in: $SNTTA,0.128974,,,,230705.68*4C

2021-01-27T23:07:05.685Z,1611788825.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.559982 m, bearing: 244.531154 deg, deltaT: 4.926566 s, approachRate: 0.474972 m/s, LOS rate: -6.239425 deg/s, posRepo size: 4
2021-01-27T23:07:05.687Z,1611788825.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.559982 m,
      bearing: 244.531154 deg,
      approachRate: 0.474972 m/s,
      LOS rate: -6.239425 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 194.600176 deg,
      new cmd heading: 190.249432 deg.

2021-01-27T23:07:07.985Z,1611788827.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:08.759Z,1611788828.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:09.195Z,1611788829.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:10.016Z,1611788830.016 [Micromodem](INFO): Nmea in: $SNTTA,0.129927,,,,230710.52*46

2021-01-27T23:07:10.457Z,1611788830.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.000000 m, bearing: 178.806170 deg, deltaT: 4.706208 s, approachRate: 0.305983 m/s, LOS rate: -13.965593 deg/s, posRepo size: 4
2021-01-27T23:07:10.458Z,1611788830.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.965593 deg/s. Setting heading cmd to target bearing of 178.806170deg and heading rate command to 0 deg/s.
2021-01-27T23:07:12.815Z,1611788832.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:13.619Z,1611788833.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:14.024Z,1611788834.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:14.852Z,1611788834.852 [Micromodem](INFO): Nmea in: $SNTTA,0.130048,,,,230715.37*48

2021-01-27T23:07:15.301Z,1611788835.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.000000 m, bearing: 138.951388 deg, deltaT: 4.856848 s, approachRate: 0.000000 m/s, LOS rate: -8.205894 deg/s, posRepo size: 4
2021-01-27T23:07:15.303Z,1611788835.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.000000 m,
      bearing: 138.951388 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.205894 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 178.806170 deg,
      new cmd heading: 178.806170 deg.

2021-01-27T23:07:17.695Z,1611788837.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:18.523Z,1611788838.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:18.948Z,1611788838.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:19.697Z,1611788839.697 [Micromodem](INFO): Nmea in: $SNTTA,0.129164,,,,230720.28*47

2021-01-27T23:07:20.148Z,1611788840.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.679993 m, bearing: 132.898952 deg, deltaT: 4.879463 s, approachRate: -0.270523 m/s, LOS rate: -1.240390 deg/s, posRepo size: 4
2021-01-27T23:07:20.150Z,1611788840.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.679993 m,
      bearing: 132.898952 deg,
      approachRate: -0.270523 m/s,
      LOS rate: -1.240390 deg/s,
      cmd update: -4.961559 deg/s,
      cmd heading: 120.300949 deg,
      new cmd heading: 115.674337 deg.

2021-01-27T23:07:22.539Z,1611788842.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:23.310Z,1611788843.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:23.728Z,1611788843.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:24.536Z,1611788844.536 [Micromodem](INFO): Nmea in: $SNTTA,0.127964,,,0.130497,230725.07*5F

2021-01-27T23:07:24.964Z,1611788844.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.519989 m, bearing: 132.775640 deg, deltaT: 4.828068 s, approachRate: -0.447385 m/s, LOS rate: -0.025541 deg/s, posRepo size: 4
2021-01-27T23:07:24.967Z,1611788844.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.519989 m,
      bearing: 132.775640 deg,
      approachRate: -0.447385 m/s,
      LOS rate: -0.025541 deg/s,
      cmd update: -0.102163 deg/s,
      cmd heading: 96.347193 deg,
      new cmd heading: 94.498318 deg.

2021-01-27T23:07:27.402Z,1611788847.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:28.165Z,1611788848.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:28.575Z,1611788848.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:29.411Z,1611788849.411 [Micromodem](INFO): Nmea in: $SNTTA,0.126094,,,,230729.92*4E

2021-01-27T23:07:29.808Z,1611788849.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 136.333513 deg, deltaT: 4.850918 s, approachRate: -0.556598 m/s, LOS rate: 0.733443 deg/s, posRepo size: 4
2021-01-27T23:07:29.810Z,1611788849.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.819977 m,
      bearing: 136.333513 deg,
      approachRate: -0.556598 m/s,
      LOS rate: 0.733443 deg/s,
      cmd update: 2.933773 deg/s,
      cmd heading: 95.851176 deg,
      new cmd heading: 95.814173 deg.

2021-01-27T23:07:32.390Z,1611788852.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:33.030Z,1611788853.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:33.435Z,1611788853.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:34.244Z,1611788854.244 [Micromodem](INFO): Nmea in: $SNTTA,0.124162,,,,230734.79*4D

2021-01-27T23:07:34.657Z,1611788854.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.000015 m, bearing: 137.201835 deg, deltaT: 4.877083 s, approachRate: -0.578207 m/s, LOS rate: 0.178041 deg/s, posRepo size: 4
2021-01-27T23:07:34.659Z,1611788854.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.000015 m,
      bearing: 137.201835 deg,
      approachRate: -0.578207 m/s,
      LOS rate: 0.178041 deg/s,
      cmd update: 0.712165 deg/s,
      cmd heading: 110.105245 deg,
      new cmd heading: 111.141296 deg.

2021-01-27T23:07:37.061Z,1611788857.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:37.859Z,1611788857.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:38.249Z,1611788858.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:39.115Z,1611788859.115 [Micromodem](INFO): Nmea in: $SNTTA,0.122513,,,,230739.61*4D

2021-01-27T23:07:39.511Z,1611788859.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 143.055471 deg, deltaT: 4.807967 s, approachRate: -0.499173 m/s, LOS rate: 1.217487 deg/s, posRepo size: 4
2021-01-27T23:07:39.513Z,1611788859.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.600006 m,
      bearing: 143.055471 deg,
      approachRate: -0.499173 m/s,
      LOS rate: 1.217487 deg/s,
      cmd update: 4.869947 deg/s,
      cmd heading: 113.542314 deg,
      new cmd heading: 113.813466 deg.

2021-01-27T23:07:41.911Z,1611788861.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:42.711Z,1611788862.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:43.104Z,1611788863.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:43.956Z,1611788863.956 [Micromodem](INFO): Nmea in: $SNTTA,0.120718,,,,230744.47*48

2021-01-27T23:07:44.394Z,1611788864.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.839996 m, bearing: 146.604560 deg, deltaT: 4.847065 s, approachRate: -0.569419 m/s, LOS rate: 0.732214 deg/s, posRepo size: 4
2021-01-27T23:07:44.395Z,1611788864.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.839996 m,
      bearing: 146.604560 deg,
      approachRate: -0.569419 m/s,
      LOS rate: 0.732214 deg/s,
      cmd update: 2.928856 deg/s,
      cmd heading: 137.135401 deg,
      new cmd heading: 139.174389 deg.

2021-01-27T23:07:46.780Z,1611788866.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:47.555Z,1611788867.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:47.952Z,1611788867.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:48.800Z,1611788868.800 [Micromodem](INFO): Nmea in: $SNTTA,0.118659,,0.122223,,230749.31*57

2021-01-27T23:07:48.819Z,1611788868.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.839996 m, bearing: 141.059389 deg, deltaT: 4.465911 s, approachRate: 0.000000 m/s, LOS rate: -1.241666 deg/s, posRepo size: 4
2021-01-27T23:07:48.821Z,1611788868.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.839996 m,
      bearing: 141.059389 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.241666 deg/s,
      cmd update: -4.966665 deg/s,
      cmd heading: 150.221792 deg,
      new cmd heading: 151.323294 deg.

2021-01-27T23:07:51.253Z,1611788871.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:51.991Z,1611788871.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:52.431Z,1611788872.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:53.257Z,1611788873.257 [Micromodem](INFO): Nmea in: $SNTTA,0.116624,,,,230753.75*44

2021-01-27T23:07:53.287Z,1611788873.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 140.559843 deg, deltaT: 4.403731 s, approachRate: -3.487952 m/s, LOS rate: -0.113437 deg/s, posRepo size: 4
2021-01-27T23:07:53.289Z,1611788873.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.479996 m,
      bearing: 140.559843 deg,
      approachRate: -3.487952 m/s,
      LOS rate: -0.113437 deg/s,
      cmd update: -0.453748 deg/s,
      cmd heading: 128.431140 deg,
      new cmd heading: 126.162849 deg.

2021-01-27T23:07:55.680Z,1611788875.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:07:56.446Z,1611788876.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:07:56.860Z,1611788876.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:07:57.697Z,1611788877.697 [Micromodem](INFO): Nmea in: $SNTTA,0.114862,,,,230758.20*41

2021-01-27T23:07:57.722Z,1611788877.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 139.122265 deg, deltaT: 4.456229 s, approachRate: 0.000000 m/s, LOS rate: -0.322599 deg/s, posRepo size: 4
2021-01-27T23:07:57.724Z,1611788877.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.479996 m,
      bearing: 139.122265 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.322599 deg/s,
      cmd update: -1.290398 deg/s,
      cmd heading: 126.401517 deg,
      new cmd heading: 126.211668 deg.

2021-01-27T23:08:00.147Z,1611788880.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:00.898Z,1611788880.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:01.304Z,1611788881.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:02.133Z,1611788882.133 [Micromodem](INFO): Nmea in: $SNTTA,0.112927,,,,230802.65*46

2021-01-27T23:08:02.157Z,1611788882.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 136.116408 deg, deltaT: 4.443958 s, approachRate: 0.000000 m/s, LOS rate: -0.676392 deg/s, posRepo size: 4
2021-01-27T23:08:02.163Z,1611788882.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.479996 m,
      bearing: 136.116408 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.676392 deg/s,
      cmd update: -2.705567 deg/s,
      cmd heading: 120.667312 deg,
      new cmd heading: 120.143161 deg.

2021-01-27T23:08:04.569Z,1611788884.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:05.334Z,1611788885.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:05.744Z,1611788885.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:06.581Z,1611788886.581 [Micromodem](INFO): Nmea in: $SNTTA,0.111115,,,,230807.09*43

2021-01-27T23:08:06.635Z,1611788886.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.440002 m, bearing: 137.251039 deg, deltaT: 4.474106 s, approachRate: 0.214570 m/s, LOS rate: 0.253600 deg/s, posRepo size: 4
2021-01-27T23:08:06.641Z,1611788886.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.440002 m,
      bearing: 137.251039 deg,
      approachRate: 0.214570 m/s,
      LOS rate: 0.253600 deg/s,
      cmd update: 1.014398 deg/s,
      cmd heading: 108.562297 deg,
      new cmd heading: 107.443697 deg.

2021-01-27T23:08:09.002Z,1611788889.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:09.778Z,1611788889.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:10.198Z,1611788890.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:11.025Z,1611788891.025 [Micromodem](INFO): Nmea in: $SNTTA,0.109413,,,,230811.53*41

2021-01-27T23:08:11.047Z,1611788891.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.919998 m, bearing: 137.002161 deg, deltaT: 4.405079 s, approachRate: -0.572068 m/s, LOS rate: -0.056498 deg/s, posRepo size: 4
2021-01-27T23:08:11.049Z,1611788891.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.919998 m,
      bearing: 137.002161 deg,
      approachRate: -0.572068 m/s,
      LOS rate: -0.056498 deg/s,
      cmd update: -0.225992 deg/s,
      cmd heading: 113.030745 deg,
      new cmd heading: 113.457738 deg.

2021-01-27T23:08:13.509Z,1611788893.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:14.238Z,1611788894.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:14.646Z,1611788894.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:15.457Z,1611788895.457 [Micromodem](INFO): Nmea in: $SNTTA,0.107823,,,,230816.00*41

2021-01-27T23:08:15.530Z,1611788895.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.919998 m, bearing: 138.665134 deg, deltaT: 4.458811 s, approachRate: 0.000000 m/s, LOS rate: 0.372963 deg/s, posRepo size: 4
2021-01-27T23:08:15.531Z,1611788895.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.919998 m,
      bearing: 138.665134 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.372963 deg/s,
      cmd update: 1.491854 deg/s,
      cmd heading: 112.024126 deg,
      new cmd heading: 111.922656 deg.

2021-01-27T23:08:17.887Z,1611788897.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:18.666Z,1611788898.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:19.075Z,1611788899.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:19.910Z,1611788899.910 [Micromodem](INFO): Nmea in: $SNTTA,0.106129,,,,230820.42*40

2021-01-27T23:08:19.931Z,1611788899.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.940002 m, bearing: 141.081491 deg, deltaT: 4.454225 s, approachRate: -1.118039 m/s, LOS rate: 0.542486 deg/s, posRepo size: 4
2021-01-27T23:08:19.953Z,1611788899.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.940002 m,
      bearing: 141.081491 deg,
      approachRate: -1.118039 m/s,
      LOS rate: 0.542486 deg/s,
      cmd update: 2.169946 deg/s,
      cmd heading: 118.675934 deg,
      new cmd heading: 119.260581 deg.

2021-01-27T23:08:22.389Z,1611788902.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:23.114Z,1611788903.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:23.520Z,1611788903.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:24.373Z,1611788904.373 [Micromodem](INFO): Nmea in: $SNTTA,0.104334,,0.109859,,230824.87*53

2021-01-27T23:08:24.440Z,1611788904.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.240005 m, bearing: 141.343593 deg, deltaT: 4.421652 s, approachRate: -0.610631 m/s, LOS rate: 0.059277 deg/s, posRepo size: 4
2021-01-27T23:08:24.442Z,1611788904.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.240005 m,
      bearing: 141.343593 deg,
      approachRate: -0.610631 m/s,
      LOS rate: 0.059277 deg/s,
      cmd update: 0.237107 deg/s,
      cmd heading: 128.235088 deg,
      new cmd heading: 129.301126 deg.

2021-01-27T23:08:26.531Z,1611788906.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:27.190Z,1611788907.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:27.600Z,1611788907.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:28.453Z,1611788908.453 [Micromodem](INFO): Nmea in: $SNTTA,0.102523,,,,230828.95*48

2021-01-27T23:08:28.487Z,1611788908.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.540009 m, bearing: 140.168391 deg, deltaT: 4.071922 s, approachRate: -0.663077 m/s, LOS rate: -0.288611 deg/s, posRepo size: 4
2021-01-27T23:08:28.529Z,1611788908.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.540009 m,
      bearing: 140.168391 deg,
      approachRate: -0.663077 m/s,
      LOS rate: -0.288611 deg/s,
      cmd update: -1.154445 deg/s,
      cmd heading: 129.200596 deg,
      new cmd heading: 129.312089 deg.

2021-01-27T23:08:30.877Z,1611788910.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:31.646Z,1611788911.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:32.056Z,1611788912.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:32.897Z,1611788912.897 [Micromodem](INFO): Nmea in: $SNTTA,0.100582,,,,230833.40*43

2021-01-27T23:08:32.919Z,1611788912.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.660004 m, bearing: 139.137988 deg, deltaT: 4.466823 s, approachRate: -0.644755 m/s, LOS rate: -0.230679 deg/s, posRepo size: 4
2021-01-27T23:08:32.921Z,1611788912.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.660004 m,
      bearing: 139.137988 deg,
      approachRate: -0.644755 m/s,
      LOS rate: -0.230679 deg/s,
      cmd update: -0.922716 deg/s,
      cmd heading: 124.025137 deg,
      new cmd heading: 123.540732 deg.

2021-01-27T23:08:35.318Z,1611788915.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:36.098Z,1611788916.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:36.496Z,1611788916.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:37.339Z,1611788917.339 [Micromodem](INFO): Nmea in: $SNTTA,0.098592,,,,230837.85*4F

2021-01-27T23:08:37.414Z,1611788917.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.660004 m, bearing: 140.236324 deg, deltaT: 4.449608 s, approachRate: -0.674217 m/s, LOS rate: 0.246839 deg/s, posRepo size: 4
2021-01-27T23:08:37.420Z,1611788917.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.660004 m,
      bearing: 140.236324 deg,
      approachRate: -0.674217 m/s,
      LOS rate: 0.246839 deg/s,
      cmd update: 0.987355 deg/s,
      cmd heading: 119.922974 deg,
      new cmd heading: 119.490434 deg.

2021-01-27T23:08:39.485Z,1611788919.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:40.233Z,1611788920.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:40.604Z,1611788920.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:41.452Z,1611788921.452 [Micromodem](INFO): Nmea in: $SNTTA,0.096829,,,,230841.99*40

2021-01-27T23:08:41.502Z,1611788921.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.660004 m, bearing: 141.664284 deg, deltaT: 4.078662 s, approachRate: 0.000000 m/s, LOS rate: 0.350105 deg/s, posRepo size: 4
2021-01-27T23:08:41.504Z,1611788921.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.660004 m,
      bearing: 141.664284 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.350105 deg/s,
      cmd update: 1.400420 deg/s,
      cmd heading: 123.952550 deg,
      new cmd heading: 124.422105 deg.

2021-01-27T23:08:43.898Z,1611788923.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:44.620Z,1611788924.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:45.037Z,1611788925.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:45.893Z,1611788925.893 [Micromodem](INFO): Nmea in: $SNTTA,0.094839,,,,230846.38*4F

2021-01-27T23:08:45.930Z,1611788925.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 141.420542 deg, deltaT: 4.450903 s, approachRate: -1.240199 m/s, LOS rate: -0.054762 deg/s, posRepo size: 4
2021-01-27T23:08:45.932Z,1611788925.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.139999 m,
      bearing: 141.420542 deg,
      approachRate: -1.240199 m/s,
      LOS rate: -0.054762 deg/s,
      cmd update: -0.219050 deg/s,
      cmd heading: 130.187929 deg,
      new cmd heading: 130.819324 deg.

2021-01-27T23:08:48.289Z,1611788928.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:49.075Z,1611788929.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:49.472Z,1611788929.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:50.305Z,1611788930.305 [Micromodem](INFO): Nmea in: $SNTTA,0.092801,,,,230850.83*45

2021-01-27T23:08:50.385Z,1611788930.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.960007 m, bearing: 142.101744 deg, deltaT: 4.413997 s, approachRate: -0.720434 m/s, LOS rate: 0.154328 deg/s, posRepo size: 4
2021-01-27T23:08:50.387Z,1611788930.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.960007 m,
      bearing: 142.101744 deg,
      approachRate: -0.720434 m/s,
      LOS rate: 0.154328 deg/s,
      cmd update: 0.617311 deg/s,
      cmd heading: 129.221072 deg,
      new cmd heading: 129.114283 deg.

2021-01-27T23:08:52.422Z,1611788932.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:53.118Z,1611788933.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:53.587Z,1611788933.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:54.371Z,1611788934.371 [Micromodem](INFO): Nmea in: $SNTTA,0.090858,,,,230854.87*4B

2021-01-27T23:08:54.430Z,1611788934.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.080002 m, bearing: 140.148570 deg, deltaT: 4.073082 s, approachRate: -0.707082 m/s, LOS rate: -0.479532 deg/s, posRepo size: 4
2021-01-27T23:08:54.433Z,1611788934.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.080002 m,
      bearing: 140.148570 deg,
      approachRate: -0.707082 m/s,
      LOS rate: -0.479532 deg/s,
      cmd update: -1.918129 deg/s,
      cmd heading: 131.732156 deg,
      new cmd heading: 132.022145 deg.

2021-01-27T23:08:56.773Z,1611788936.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:08:57.546Z,1611788937.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:08:57.952Z,1611788937.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:08:58.785Z,1611788938.785 [Micromodem](INFO): Nmea in: $SNTTA,0.088877,,,,230859.30*4E

2021-01-27T23:08:58.825Z,1611788938.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 139.349847 deg, deltaT: 4.456185 s, approachRate: -0.632830 m/s, LOS rate: -0.179239 deg/s, posRepo size: 4
2021-01-27T23:08:58.827Z,1611788938.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.259995 m,
      bearing: 139.349847 deg,
      approachRate: -0.632830 m/s,
      LOS rate: -0.179239 deg/s,
      cmd update: -0.716956 deg/s,
      cmd heading: 123.174071 deg,
      new cmd heading: 122.402318 deg.

2021-01-27T23:09:01.241Z,1611788941.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:01.987Z,1611788941.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:02.420Z,1611788942.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:03.246Z,1611788943.246 [Micromodem](INFO): Nmea in: $SNTTA,0.086690,,0.089464,,230903.74*50

2021-01-27T23:09:03.270Z,1611788943.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.840012 m, bearing: 141.413753 deg, deltaT: 4.390822 s, approachRate: -0.778894 m/s, LOS rate: 0.470050 deg/s, posRepo size: 4
2021-01-27T23:09:03.272Z,1611788943.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.840012 m,
      bearing: 141.413753 deg,
      approachRate: -0.778894 m/s,
      LOS rate: 0.470050 deg/s,
      cmd update: 1.880200 deg/s,
      cmd heading: 120.026336 deg,
      new cmd heading: 119.698397 deg.

2021-01-27T23:09:05.740Z,1611788945.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:06.454Z,1611788946.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:06.916Z,1611788946.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:07.685Z,1611788947.685 [Micromodem](INFO): Nmea in: $SNTTA,0.084820,,,,230908.21*45

2021-01-27T23:09:07.710Z,1611788947.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.019997 m, bearing: 142.505668 deg, deltaT: 4.489634 s, approachRate: -0.628117 m/s, LOS rate: 0.243208 deg/s, posRepo size: 4
2021-01-27T23:09:07.733Z,1611788947.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.019997 m,
      bearing: 142.505668 deg,
      approachRate: -0.628117 m/s,
      LOS rate: 0.243208 deg/s,
      cmd update: 0.972832 deg/s,
      cmd heading: 128.460670 deg,
      new cmd heading: 129.234878 deg.

2021-01-27T23:09:10.089Z,1611788950.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:10.903Z,1611788950.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:11.288Z,1611788951.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:12.116Z,1611788952.116 [Micromodem](INFO): Nmea in: $SNTTA,0.082905,,,,230912.66*4D

2021-01-27T23:09:12.135Z,1611788952.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 142.906190 deg, deltaT: 4.432998 s, approachRate: -0.663205 m/s, LOS rate: 0.090350 deg/s, posRepo size: 4
2021-01-27T23:09:12.137Z,1611788952.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.080009 m,
      bearing: 142.906190 deg,
      approachRate: -0.663205 m/s,
      LOS rate: 0.090350 deg/s,
      cmd update: 0.361401 deg/s,
      cmd heading: 132.777325 deg,
      new cmd heading: 133.165642 deg.

2021-01-27T23:09:14.557Z,1611788954.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:14.952Z,1611788954.952 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T23:09:14.952Z,1611788954.952 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T23:09:14.953Z,1611788954.953 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T23:09:14.953Z,1611788954.953 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T23:09:14.953Z,1611788954.953 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T23:09:15.348Z,1611788955.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:15.749Z,1611788955.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:15.873Z,1611788955.873 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA11600F0000005D00000400320000000000000000151D80030C5669BF527B607AD238904F1365797EF446E73D01ADA04FB0BEA4ED98EAA5AA16F1F050EA40
2021-01-27T23:09:15.873Z,1611788955.873 [Micromodem](INFO): Outgoing frame #2, 6 bytes: E8D52CE4AE00
2021-01-27T23:09:15.874Z,1611788955.874 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-27T23:09:16.168Z,1611788956.168 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-27T23:09:16.585Z,1611788956.585 [Micromodem](INFO): Nmea in: $CADRQ,230917,1,10,0,64,1*78

2021-01-27T23:09:16.586Z,1611788956.586 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA11600F0000005D00000400320000000000000000151D80030C5669BF527B607AD238904F1365797EF446E73D01ADA04FB0BEA4ED98EAA5AA16F1F050EA40*46

2021-01-27T23:09:16.717Z,1611788956.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.260002 m, bearing: 140.745542 deg, deltaT: 4.499328 s, approachRate: -0.626762 m/s, LOS rate: -0.480216 deg/s, posRepo size: 4
2021-01-27T23:09:16.719Z,1611788956.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.260002 m,
      bearing: 140.745542 deg,
      approachRate: -0.626762 m/s,
      LOS rate: -0.480216 deg/s,
      cmd update: -1.920863 deg/s,
      cmd heading: 134.402791 deg,
      new cmd heading: 134.575873 deg.

2021-01-27T23:09:16.973Z,1611788956.973 [Micromodem](INFO): Nmea in: $SNTTA,0.080989,,,,230917.11*4E

2021-01-27T23:09:16.974Z,1611788956.974 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.080989,,,,230917.11*4E

2021-01-27T23:09:18.192Z,1611788958.192 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T23:09:18.585Z,1611788958.585 [Micromodem](INFO): Nmea in: $CADRQ,230918,1,10,0,64,2*74

2021-01-27T23:09:18.585Z,1611788958.585 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E8D52CE4AE00*41

2021-01-27T23:09:19.053Z,1611788959.053 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-01-27T23:09:19.072Z,1611788959.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:19.440Z,1611788959.440 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-01-27T23:09:19.802Z,1611788959.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:21.595Z,1611788961.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:21.806Z,1611788961.806 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-01-27T23:09:21.806Z,1611788961.806 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-01-27T23:09:22.231Z,1611788962.231 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,230920.314311,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4E

2021-01-27T23:09:22.231Z,1611788962.231 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,230920.314311,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4E

2021-01-27T23:09:24.379Z,1611788964.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:24.630Z,1611788964.630 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T23:09:25.038Z,1611788965.038 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-27T23:09:25.039Z,1611788965.039 [Micromodem](INFO): Sent 62 bytes from file Logs/20210127T223404/Courier0015.lzma.parts
2021-01-27T23:09:25.039Z,1611788965.039 [Micromodem](INFO): Packets left to send: 0
2021-01-27T23:09:25.452Z,1611788965.452 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127230925.039608,06,8298,39,0272,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,22.4,6.00,16,-3.00,-01,1.34,28,14500,4000*5F

2021-01-27T23:09:25.452Z,1611788965.452 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127230925.039608,06,8298,39,0272,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,22.4,6.00,16,-3.00,-01,1.34,28,14500,4000*5F

2021-01-27T23:09:25.577Z,1611788965.577 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T23:09:25.577Z,1611788965.577 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T23:09:25.577Z,1611788965.577 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T23:09:25.577Z,1611788965.577 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T23:09:25.577Z,1611788965.577 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T23:09:27.074Z,1611788967.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:29.909Z,1611788969.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:31.090Z,1611788971.090 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:31.496Z,1611788971.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:32.429Z,1611788972.429 [Micromodem](INFO): Nmea in: $SNTTA,0.073978,,,,230932.84*47

2021-01-27T23:09:32.480Z,1611788972.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.760002 m, bearing: 144.114997 deg, deltaT: 15.681856 s, approachRate: -0.669564 m/s, LOS rate: 0.214863 deg/s, posRepo size: 4
2021-01-27T23:09:32.482Z,1611788972.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.760002 m,
      bearing: 144.114997 deg,
      approachRate: -0.669564 m/s,
      LOS rate: 0.214863 deg/s,
      cmd update: 0.859453 deg/s,
      cmd heading: 104.277700 deg,
      new cmd heading: 103.196372 deg.

2021-01-27T23:09:34.767Z,1611788974.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:35.534Z,1611788975.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:35.947Z,1611788975.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:36.789Z,1611788976.789 [Micromodem](INFO): Nmea in: $SNTTA,0.072414,,,,230937.29*43

2021-01-27T23:09:36.811Z,1611788976.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.479996 m, bearing: 152.164566 deg, deltaT: 4.512642 s, approachRate: -0.505249 m/s, LOS rate: 1.783782 deg/s, posRepo size: 4
2021-01-27T23:09:36.813Z,1611788976.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.479996 m,
      bearing: 152.164566 deg,
      approachRate: -0.505249 m/s,
      LOS rate: 1.783782 deg/s,
      cmd update: 7.135128 deg/s,
      cmd heading: 108.156467 deg,
      new cmd heading: 108.484176 deg.

2021-01-27T23:09:39.241Z,1611788979.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:39.991Z,1611788979.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:40.412Z,1611788980.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:41.233Z,1611788981.233 [Micromodem](INFO): Nmea in: $SNTTA,0.070945,,0.090676,,230941.75*50

2021-01-27T23:09:41.268Z,1611788981.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.260002 m, bearing: 152.250572 deg, deltaT: 4.371289 s, approachRate: -0.507858 m/s, LOS rate: 0.019675 deg/s, posRepo size: 4
2021-01-27T23:09:41.270Z,1611788981.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.260002 m,
      bearing: 152.250572 deg,
      approachRate: -0.507858 m/s,
      LOS rate: 0.019675 deg/s,
      cmd update: 0.078701 deg/s,
      cmd heading: 139.344573 deg,
      new cmd heading: 142.678440 deg.

2021-01-27T23:09:43.670Z,1611788983.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:44.422Z,1611788984.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:44.836Z,1611788984.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:45.677Z,1611788985.677 [Micromodem](INFO): Nmea in: $SNTTA,0.069359,,,,230946.18*43

2021-01-27T23:09:45.702Z,1611788985.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 149.776063 deg, deltaT: 4.475202 s, approachRate: -0.549696 m/s, LOS rate: -0.552938 deg/s, posRepo size: 4
2021-01-27T23:09:45.704Z,1611788985.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.800003 m,
      bearing: 149.776063 deg,
      approachRate: -0.549696 m/s,
      LOS rate: -0.552938 deg/s,
      cmd update: -2.211752 deg/s,
      cmd heading: 139.696787 deg,
      new cmd heading: 139.730307 deg.

2021-01-27T23:09:48.081Z,1611788988.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:48.868Z,1611788988.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:49.282Z,1611788989.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:50.118Z,1611788990.118 [Micromodem](INFO): Nmea in: $SNTTA,0.067724,,,,230950.62*49

2021-01-27T23:09:50.140Z,1611788990.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.099998 m, bearing: 148.787420 deg, deltaT: 4.457351 s, approachRate: -0.605742 m/s, LOS rate: -0.221800 deg/s, posRepo size: 4
2021-01-27T23:09:50.146Z,1611788990.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.099998 m,
      bearing: 148.787420 deg,
      approachRate: -0.605742 m/s,
      LOS rate: -0.221800 deg/s,
      cmd update: -0.887202 deg/s,
      cmd heading: 129.846962 deg,
      new cmd heading: 128.940557 deg.

2021-01-27T23:09:52.551Z,1611788992.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:53.310Z,1611788993.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:53.720Z,1611788993.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:54.553Z,1611788994.553 [Micromodem](INFO): Nmea in: $SNTTA,0.065537,,,,230955.06*4C

2021-01-27T23:09:54.599Z,1611788994.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 148.095413 deg, deltaT: 4.425490 s, approachRate: -0.691448 m/s, LOS rate: -0.156369 deg/s, posRepo size: 4
2021-01-27T23:09:54.601Z,1611788994.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.040001 m,
      bearing: 148.095413 deg,
      approachRate: -0.691448 m/s,
      LOS rate: -0.156369 deg/s,
      cmd update: -0.625474 deg/s,
      cmd heading: 125.936880 deg,
      new cmd heading: 125.526981 deg.

2021-01-27T23:09:56.974Z,1611788996.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:09:57.755Z,1611788997.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:09:58.166Z,1611788998.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:09:58.563Z,1611788998.563 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T23:09:58.998Z,1611788998.998 [Micromodem](INFO): Nmea in: $SNTTA,0.063572,,,,230959.51*45

2021-01-27T23:09:59.031Z,1611788999.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 147.925846 deg, deltaT: 4.429466 s, approachRate: -0.650191 m/s, LOS rate: -0.038281 deg/s, posRepo size: 4
2021-01-27T23:09:59.033Z,1611788999.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.160004 m,
      bearing: 147.925846 deg,
      approachRate: -0.650191 m/s,
      LOS rate: -0.038281 deg/s,
      cmd update: -0.153126 deg/s,
      cmd heading: 123.152465 deg,
      new cmd heading: 122.875696 deg.

2021-01-27T23:10:01.453Z,1611789001.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:02.211Z,1611789002.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:02.604Z,1611789002.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:03.457Z,1611789003.457 [Micromodem](INFO): Nmea in: $SNTTA,0.061895,,,,231003.97*4E

2021-01-27T23:10:03.491Z,1611789003.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.940010 m, bearing: 150.387870 deg, deltaT: 4.436001 s, approachRate: -0.500449 m/s, LOS rate: 0.555010 deg/s, posRepo size: 4
2021-01-27T23:10:03.493Z,1611789003.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.940010 m,
      bearing: 150.387870 deg,
      approachRate: -0.500449 m/s,
      LOS rate: 0.555010 deg/s,
      cmd update: 2.220039 deg/s,
      cmd heading: 122.473194 deg,
      new cmd heading: 122.401718 deg.

2021-01-27T23:10:05.866Z,1611789005.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:06.650Z,1611789006.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:07.056Z,1611789007.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:07.893Z,1611789007.893 [Micromodem](INFO): Nmea in: $SNTTA,0.060172,,,,231008.41*4F

2021-01-27T23:10:07.915Z,1611789007.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.060005 m, bearing: 150.758353 deg, deltaT: 4.479914 s, approachRate: -0.642871 m/s, LOS rate: 0.082699 deg/s, posRepo size: 4
2021-01-27T23:10:07.917Z,1611789007.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.060005 m,
      bearing: 150.758353 deg,
      approachRate: -0.642871 m/s,
      LOS rate: 0.082699 deg/s,
      cmd update: 0.330795 deg/s,
      cmd heading: 132.418812 deg,
      new cmd heading: 133.330497 deg.

2021-01-27T23:10:10.331Z,1611789010.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:11.094Z,1611789011.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:11.496Z,1611789011.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:12.340Z,1611789012.340 [Micromodem](INFO): Nmea in: $SNTTA,0.058161,,,,231012.85*45

2021-01-27T23:10:12.414Z,1611789012.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.059998 m, bearing: 152.607203 deg, deltaT: 4.417087 s, approachRate: -0.679182 m/s, LOS rate: 0.418568 deg/s, posRepo size: 4
2021-01-27T23:10:12.432Z,1611789012.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.059998 m,
      bearing: 152.607203 deg,
      approachRate: -0.679182 m/s,
      LOS rate: 0.418568 deg/s,
      cmd update: 1.674271 deg/s,
      cmd heading: 133.879964 deg,
      new cmd heading: 134.040937 deg.

2021-01-27T23:10:14.439Z,1611789014.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:15.130Z,1611789015.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:15.536Z,1611789015.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:16.393Z,1611789016.393 [Micromodem](INFO): Nmea in: $SNTTA,0.056326,,,,231016.89*42

2021-01-27T23:10:16.427Z,1611789016.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.300011 m, bearing: 152.607449 deg, deltaT: 4.074343 s, approachRate: -0.677407 m/s, LOS rate: 0.000060 deg/s, posRepo size: 4
2021-01-27T23:10:16.429Z,1611789016.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.300011 m,
      bearing: 152.607449 deg,
      approachRate: -0.677407 m/s,
      LOS rate: 0.000060 deg/s,
      cmd update: 0.000241 deg/s,
      cmd heading: 140.664507 deg,
      new cmd heading: 141.423410 deg.

2021-01-27T23:10:18.781Z,1611789018.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:19.579Z,1611789019.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:19.982Z,1611789019.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:20.825Z,1611789020.825 [Micromodem](INFO): Nmea in: $SNTTA,0.054089,,,,231021.34*44

2021-01-27T23:10:20.847Z,1611789020.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 152.777303 deg, deltaT: 4.452111 s, approachRate: -0.768176 m/s, LOS rate: 0.038151 deg/s, posRepo size: 4
2021-01-27T23:10:20.849Z,1611789020.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.880005 m,
      bearing: 152.777303 deg,
      approachRate: -0.768176 m/s,
      LOS rate: 0.038151 deg/s,
      cmd update: 0.152605 deg/s,
      cmd heading: 140.665587 deg,
      new cmd heading: 140.665683 deg.

2021-01-27T23:10:23.260Z,1611789023.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:24.027Z,1611789024.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:24.428Z,1611789024.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:25.277Z,1611789025.277 [Micromodem](INFO): Nmea in: $SNTTA,0.051928,,,,231025.78*4F

2021-01-27T23:10:25.325Z,1611789025.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 152.932088 deg, deltaT: 4.412438 s, approachRate: -0.734287 m/s, LOS rate: 0.035079 deg/s, posRepo size: 4
2021-01-27T23:10:25.327Z,1611789025.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.640007 m,
      bearing: 152.932088 deg,
      approachRate: -0.734287 m/s,
      LOS rate: 0.035079 deg/s,
      cmd update: 0.140318 deg/s,
      cmd heading: 141.338943 deg,
      new cmd heading: 141.409063 deg.

2021-01-27T23:10:27.408Z,1611789027.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:28.086Z,1611789028.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:28.476Z,1611789028.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:29.301Z,1611789029.301 [Micromodem](INFO): Nmea in: $SNTTA,0.050043,,,,231029.84*45

2021-01-27T23:10:29.330Z,1611789029.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.879997 m, bearing: 152.190330 deg, deltaT: 4.054953 s, approachRate: -0.680651 m/s, LOS rate: -0.182927 deg/s, posRepo size: 4
2021-01-27T23:10:29.333Z,1611789029.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.879997 m,
      bearing: 152.190330 deg,
      approachRate: -0.680651 m/s,
      LOS rate: -0.182927 deg/s,
      cmd update: -0.731706 deg/s,
      cmd heading: 141.907887 deg,
      new cmd heading: 141.966149 deg.

2021-01-27T23:10:31.723Z,1611789031.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:32.502Z,1611789032.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:32.908Z,1611789032.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:33.749Z,1611789033.749 [Micromodem](INFO): Nmea in: $SNTTA,0.047838,,,,231034.26*43

2021-01-27T23:10:33.774Z,1611789033.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 151.224869 deg, deltaT: 4.466409 s, approachRate: -0.752282 m/s, LOS rate: -0.216160 deg/s, posRepo size: 4
2021-01-27T23:10:33.800Z,1611789033.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.519997 m,
      bearing: 151.224869 deg,
      approachRate: -0.752282 m/s,
      LOS rate: -0.216160 deg/s,
      cmd update: -0.864642 deg/s,
      cmd heading: 138.642505 deg,
      new cmd heading: 138.352601 deg.

2021-01-27T23:10:36.206Z,1611789036.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:36.942Z,1611789036.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:37.374Z,1611789037.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:38.209Z,1611789038.209 [Micromodem](INFO): Nmea in: $SNTTA,0.045827,,,,231038.70*40

2021-01-27T23:10:38.233Z,1611789038.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.520004 m, bearing: 152.432556 deg, deltaT: 4.409893 s, approachRate: -0.680287 m/s, LOS rate: 0.273859 deg/s, posRepo size: 4
2021-01-27T23:10:38.234Z,1611789038.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.520004 m,
      bearing: 152.432556 deg,
      approachRate: -0.680287 m/s,
      LOS rate: 0.273859 deg/s,
      cmd update: 1.095434 deg/s,
      cmd heading: 134.826118 deg,
      new cmd heading: 134.445132 deg.

2021-01-27T23:10:40.313Z,1611789040.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:41.074Z,1611789041.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:41.460Z,1611789041.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:42.261Z,1611789042.261 [Micromodem](INFO): Nmea in: $SNTTA,0.043960,,,,231042.83*45

2021-01-27T23:10:42.295Z,1611789042.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.759995 m, bearing: 155.009135 deg, deltaT: 4.043882 s, approachRate: -0.682515 m/s, LOS rate: 0.637155 deg/s, posRepo size: 4
2021-01-27T23:10:42.297Z,1611789042.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.759995 m,
      bearing: 155.009135 deg,
      approachRate: -0.682515 m/s,
      LOS rate: 0.637155 deg/s,
      cmd update: 2.548620 deg/s,
      cmd heading: 139.255934 deg,
      new cmd heading: 139.758787 deg.

2021-01-27T23:10:44.651Z,1611789044.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:45.434Z,1611789045.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:45.848Z,1611789045.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:46.673Z,1611789046.673 [Micromodem](INFO): Nmea in: $SNTTA,0.041884,,,0.046909,231047.19*56

2021-01-27T23:10:46.698Z,1611789046.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.640007 m, bearing: 155.726332 deg, deltaT: 4.434586 s, approachRate: -0.703558 m/s, LOS rate: 0.161728 deg/s, posRepo size: 4
2021-01-27T23:10:46.716Z,1611789046.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.640007 m,
      bearing: 155.726332 deg,
      approachRate: -0.703558 m/s,
      LOS rate: 0.161728 deg/s,
      cmd update: 0.646912 deg/s,
      cmd heading: 150.558001 deg,
      new cmd heading: 151.648300 deg.

2021-01-27T23:10:49.089Z,1611789049.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:49.886Z,1611789049.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:50.292Z,1611789050.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:51.125Z,1611789051.125 [Micromodem](INFO): Nmea in: $SNTTA,0.039790,,,,231051.64*42

2021-01-27T23:10:51.149Z,1611789051.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.520004 m, bearing: 155.627568 deg, deltaT: 4.455959 s, approachRate: -0.700187 m/s, LOS rate: -0.022165 deg/s, posRepo size: 4
2021-01-27T23:10:51.151Z,1611789051.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.520004 m,
      bearing: 155.627568 deg,
      approachRate: -0.700187 m/s,
      LOS rate: -0.022165 deg/s,
      cmd update: -0.088658 deg/s,
      cmd heading: 153.440624 deg,
      new cmd heading: 153.714464 deg.

2021-01-27T23:10:53.557Z,1611789053.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:54.326Z,1611789054.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:54.808Z,1611789054.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:10:55.220Z,1611789055.220 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T23:10:55.581Z,1611789055.581 [Micromodem](INFO): Nmea in: $SNTTA,0.037994,,,,231056.08*4B

2021-01-27T23:10:55.611Z,1611789055.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.820004 m, bearing: 155.015296 deg, deltaT: 4.528202 s, approachRate: -0.596263 m/s, LOS rate: -0.135213 deg/s, posRepo size: 4
2021-01-27T23:10:55.613Z,1611789055.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.820004 m,
      bearing: 155.015296 deg,
      approachRate: -0.596263 m/s,
      LOS rate: -0.135213 deg/s,
      cmd update: -0.540852 deg/s,
      cmd heading: 153.040406 deg,
      new cmd heading: 153.007577 deg.

2021-01-27T23:10:57.979Z,1611789057.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:10:58.766Z,1611789058.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:10:59.186Z,1611789059.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:00.013Z,1611789060.013 [Micromodem](INFO): Nmea in: $SNTTA,0.035560,,,,231100.52*43

2021-01-27T23:11:00.043Z,1611789060.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.159996 m, bearing: 155.419384 deg, deltaT: 4.377866 s, approachRate: -0.836025 m/s, LOS rate: 0.092302 deg/s, posRepo size: 4
2021-01-27T23:11:00.045Z,1611789060.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.159996 m,
      bearing: 155.419384 deg,
      approachRate: -0.836025 m/s,
      LOS rate: 0.092302 deg/s,
      cmd update: 0.369210 deg/s,
      cmd heading: 150.665222 deg,
      new cmd heading: 150.443089 deg.

2021-01-27T23:11:02.461Z,1611789062.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:03.259Z,1611789063.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:03.624Z,1611789063.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:04.443Z,1611789064.443 [Micromodem](INFO): Nmea in: $SNTTA,0.033226,,,,231105.01*43

2021-01-27T23:11:04.500Z,1611789064.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.679996 m, bearing: 153.841924 deg, deltaT: 4.436921 s, approachRate: -0.784328 m/s, LOS rate: -0.355530 deg/s, posRepo size: 4
2021-01-27T23:11:04.502Z,1611789064.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.679996 m,
      bearing: 153.841924 deg,
      approachRate: -0.784328 m/s,
      LOS rate: -0.355530 deg/s,
      cmd update: -1.422121 deg/s,
      cmd heading: 152.303310 deg,
      new cmd heading: 152.462591 deg.

2021-01-27T23:11:06.882Z,1611789066.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:07.770Z,1611789067.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:08.089Z,1611789068.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:08.933Z,1611789068.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 155.001021 deg, deltaT: 4.465068 s, approachRate: -0.779383 m/s, LOS rate: 0.259592 deg/s, posRepo size: 4
2021-01-27T23:11:08.938Z,1611789068.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.199997 m,
      bearing: 155.001021 deg,
      approachRate: -0.779383 m/s,
      LOS rate: 0.259592 deg/s,
      cmd update: 1.038369 deg/s,
      cmd heading: 145.952807 deg,
      new cmd heading: 145.389445 deg.

2021-01-27T23:11:09.281Z,1611789069.281 [Micromodem](INFO): Nmea in: $SNTTA,0.030921,,0.142293,,231109.52*57

2021-01-27T23:11:11.326Z,1611789071.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:12.098Z,1611789072.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:12.512Z,1611789072.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:13.368Z,1611789073.368 [Micromodem](INFO): Nmea in: $SNTTA,0.028827,,,,231113.85*49

2021-01-27T23:11:13.419Z,1611789073.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.080002 m, bearing: 154.636002 deg, deltaT: 4.411064 s, approachRate: -0.707311 m/s, LOS rate: -0.082751 deg/s, posRepo size: 4
2021-01-27T23:11:13.421Z,1611789073.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.080002 m,
      bearing: 154.636002 deg,
      approachRate: -0.707311 m/s,
      LOS rate: -0.082751 deg/s,
      cmd update: -0.331003 deg/s,
      cmd heading: 150.529038 deg,
      new cmd heading: 151.025149 deg.

2021-01-27T23:11:15.758Z,1611789075.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:16.554Z,1611789076.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:16.958Z,1611789076.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:17.797Z,1611789077.797 [Micromodem](INFO): Nmea in: $SNTTA,0.026633,,0.043227,,231118.31*56

2021-01-27T23:11:17.819Z,1611789077.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.780003 m, bearing: 154.875796 deg, deltaT: 4.477261 s, approachRate: -0.737058 m/s, LOS rate: 0.053558 deg/s, posRepo size: 4
2021-01-27T23:11:17.820Z,1611789077.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.78 m.
2021-01-27T23:11:17.822Z,1611789077.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.780003 m,
      bearing: 154.875796 deg,
      approachRate: -0.737058 m/s,
      LOS rate: 0.053558 deg/s,
      cmd update: 0.214233 deg/s,
      cmd heading: 149.045757 deg,
      new cmd heading: 148.914366 deg.

2021-01-27T23:11:18.206Z,1611789078.206 [PowerOnly](INFO): Powering up loadControl
2021-01-27T23:11:20.267Z,1611789080.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:20.685Z,1611789080.685 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:11:20.990Z,1611789080.990 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-01-27T23:11:20.994Z,1611789080.994 [BPC1](INFO): Received data from all battery sticks.
2021-01-27T23:11:21.046Z,1611789081.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:21.420Z,1611789081.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:22.259Z,1611789082.259 [Micromodem](INFO): Nmea in: $SNTTA,0.024471,,,,231122.80*4D

2021-01-27T23:11:22.301Z,1611789082.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.539997 m, bearing: 157.190602 deg, deltaT: 4.399056 s, approachRate: -0.736523 m/s, LOS rate: 0.526205 deg/s, posRepo size: 4
2021-01-27T23:11:22.301Z,1611789082.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.54 m.
2021-01-27T23:11:22.303Z,1611789082.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.539997 m,
      bearing: 157.190602 deg,
      approachRate: -0.736523 m/s,
      LOS rate: 0.526205 deg/s,
      cmd update: 2.104821 deg/s,
      cmd heading: 149.988183 deg,
      new cmd heading: 150.090783 deg.

2021-01-27T23:11:22.623Z,1611789082.623 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:11:24.667Z,1611789084.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:25.441Z,1611789085.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:25.849Z,1611789085.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:26.681Z,1611789086.681 [Micromodem](INFO): Nmea in: $SNTTA,0.022388,,,,231127.20*45

2021-01-27T23:11:26.718Z,1611789086.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.419998 m, bearing: 160.745155 deg, deltaT: 4.479535 s, approachRate: -0.696501 m/s, LOS rate: 0.793509 deg/s, posRepo size: 4
2021-01-27T23:11:26.718Z,1611789086.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.42 m.
2021-01-27T23:11:26.720Z,1611789086.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.419998 m,
      bearing: 160.745155 deg,
      approachRate: -0.696501 m/s,
      LOS rate: 0.793509 deg/s,
      cmd update: 3.174038 deg/s,
      cmd heading: 159.399850 deg,
      new cmd heading: 160.294054 deg.

2021-01-27T23:11:29.075Z,1611789089.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:29.874Z,1611789089.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:30.280Z,1611789090.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:31.117Z,1611789091.117 [Micromodem](INFO): Nmea in: $SNTTA,0.020391,,,,231131.63*4F

2021-01-27T23:11:31.184Z,1611789091.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 162.048519 deg, deltaT: 4.439642 s, approachRate: -0.675731 m/s, LOS rate: 0.293574 deg/s, posRepo size: 4
2021-01-27T23:11:31.186Z,1611789091.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.42 m.
2021-01-27T23:11:31.200Z,1611789091.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.419996 m,
      bearing: 162.048519 deg,
      approachRate: -0.675731 m/s,
      LOS rate: 0.293574 deg/s,
      cmd update: 1.174296 deg/s,
      cmd heading: 173.499132 deg,
      new cmd heading: 174.884495 deg.

2021-01-27T23:11:33.578Z,1611789093.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:34.377Z,1611789094.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:34.753Z,1611789094.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:35.585Z,1611789095.585 [Micromodem](INFO): Nmea in: $SNTTA,0.018363,,,,231136.13*49

2021-01-27T23:11:35.615Z,1611789095.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 158.584712 deg, deltaT: 4.490591 s, approachRate: -0.668062 m/s, LOS rate: -0.771348 deg/s, posRepo size: 4
2021-01-27T23:11:35.616Z,1611789095.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.42 m.
2021-01-27T23:11:35.618Z,1611789095.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.420002 m,
      bearing: 158.584712 deg,
      approachRate: -0.668062 m/s,
      LOS rate: -0.771348 deg/s,
      cmd update: -3.085391 deg/s,
      cmd heading: 178.778962 deg,
      new cmd heading: 179.230005 deg.

2021-01-27T23:11:38.020Z,1611789098.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:38.846Z,1611789098.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:39.201Z,1611789099.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:40.053Z,1611789100.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 155.009244 deg, deltaT: 4.398318 s, approachRate: -0.723005 m/s, LOS rate: -0.812917 deg/s, posRepo size: 4
2021-01-27T23:11:40.054Z,1611789100.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.24 m.
2021-01-27T23:11:40.054Z,1611789100.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 24.24 m.
2021-01-27T23:11:40.054Z,1611789100.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-27T23:11:40.056Z,1611789100.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.239998 m,
      bearing: 155.009244 deg,
      approachRate: -0.723005 m/s,
      LOS rate: -0.812917 deg/s,
      cmd update: -3.251668 deg/s,
      cmd heading: 165.207872 deg,
      new cmd heading: 163.901940 deg.

2021-01-27T23:11:40.429Z,1611789100.429 [Micromodem](INFO): Nmea in: $SNTTA,0.016319,,,,231140.60*4F

2021-01-27T23:11:40.472Z,1611789100.472 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T23:11:42.483Z,1611789102.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:43.238Z,1611789103.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:43.632Z,1611789103.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:44.484Z,1611789104.484 [Micromodem](INFO): Nmea in: $SNTTA,0.014312,,,,231144.99*44

2021-01-27T23:11:44.551Z,1611789104.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 157.210696 deg, deltaT: 4.424423 s, approachRate: -0.678055 m/s, LOS rate: 0.497568 deg/s, posRepo size: 4
2021-01-27T23:11:44.557Z,1611789104.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.239996 m,
      bearing: 157.210696 deg,
      approachRate: -0.678055 m/s,
      LOS rate: 0.497568 deg/s,
      cmd update: 1.990273 deg/s,
      cmd heading: 150.821098 deg,
      new cmd heading: 149.205826 deg.

2021-01-27T23:11:46.878Z,1611789106.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:47.681Z,1611789107.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:48.076Z,1611789108.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:48.909Z,1611789108.909 [Micromodem](INFO): Nmea in: $SNTTA,0.012344,,,,231149.43*4B

2021-01-27T23:11:48.951Z,1611789108.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 156.953540 deg, deltaT: 4.474222 s, approachRate: -0.657097 m/s, LOS rate: -0.057475 deg/s, posRepo size: 4
2021-01-27T23:11:48.953Z,1611789108.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 156.953540 deg,
      approachRate: -0.657097 m/s,
      LOS rate: -0.057475 deg/s,
      cmd update: -0.229901 deg/s,
      cmd heading: 159.686268 deg,
      new cmd heading: 160.566547 deg.

2021-01-27T23:11:51.329Z,1611789111.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:52.114Z,1611789112.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:52.520Z,1611789112.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:53.364Z,1611789113.364 [Micromodem](INFO): Nmea in: $SNTTA,0.010430,,,,231153.87*4E

2021-01-27T23:11:53.415Z,1611789113.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 159.781019 deg, deltaT: 4.414899 s, approachRate: -0.652336 m/s, LOS rate: 0.640440 deg/s, posRepo size: 4
2021-01-27T23:11:53.421Z,1611789113.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 159.781019 deg,
      approachRate: -0.652336 m/s,
      LOS rate: 0.640440 deg/s,
      cmd update: 2.561762 deg/s,
      cmd heading: 158.667741 deg,
      new cmd heading: 158.558308 deg.

2021-01-27T23:11:55.781Z,1611789115.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:11:56.548Z,1611789116.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:11:56.971Z,1611789116.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:11:57.809Z,1611789117.809 [Micromodem](INFO): Nmea in: $SNTTA,0.008429,,0.047123,,231158.30*55

2021-01-27T23:11:57.831Z,1611789117.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.479998 m, bearing: 160.482412 deg, deltaT: 4.473544 s, approachRate: -0.657198 m/s, LOS rate: 0.156787 deg/s, posRepo size: 4
2021-01-27T23:11:57.833Z,1611789117.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.479998 m,
      bearing: 160.482412 deg,
      approachRate: -0.657198 m/s,
      LOS rate: 0.156787 deg/s,
      cmd update: 0.627147 deg/s,
      cmd heading: 170.139499 deg,
      new cmd heading: 171.201531 deg.

2021-01-27T23:12:00.238Z,1611789120.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:01.030Z,1611789121.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:01.417Z,1611789121.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:02.257Z,1611789122.257 [Micromodem](INFO): Nmea in: $SNTTA,0.006450,0.069620,,,231202.79*5C

2021-01-27T23:12:02.306Z,1611789122.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 156.668735 deg, deltaT: 4.412216 s, approachRate: -0.666331 m/s, LOS rate: -0.864345 deg/s, posRepo size: 4
2021-01-27T23:12:02.315Z,1611789122.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 156.668735 deg,
      approachRate: -0.666331 m/s,
      LOS rate: -0.864345 deg/s,
      cmd update: -3.457380 deg/s,
      cmd heading: 172.906516 deg,
      new cmd heading: 173.206125 deg.

2021-01-27T23:12:04.694Z,1611789124.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:05.450Z,1611789125.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:05.862Z,1611789125.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:06.698Z,1611789126.698 [Micromodem](INFO): Nmea in: $SNTTA,0.004460,,,,231207.21*40

2021-01-27T23:12:06.731Z,1611789126.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.479999 m, bearing: 148.359919 deg, deltaT: 4.468613 s, approachRate: -0.684776 m/s, LOS rate: -1.859372 deg/s, posRepo size: 4
2021-01-27T23:12:06.735Z,1611789126.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 148.359919 deg,
      approachRate: -0.684776 m/s,
      LOS rate: -1.859372 deg/s,
      cmd update: -7.437489 deg/s,
      cmd heading: 157.456192 deg,
      new cmd heading: 155.961076 deg.

2021-01-27T23:12:09.109Z,1611789129.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:09.890Z,1611789129.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:10.310Z,1611789130.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:11.141Z,1611789131.141 [Micromodem](INFO): Nmea in: $SNTTA,0.002759,,,,231211.65*48

2021-01-27T23:12:11.162Z,1611789131.162 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T23:12:11.163Z,1611789131.163 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T23:12:11.163Z,1611789131.163 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T23:12:11.163Z,1611789131.163 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:12:11.163Z,1611789131.163 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T23:12:11.163Z,1611789131.163 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.899999 m 
2021-01-27T23:12:11.164Z,1611789131.164 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T23:12:11.164Z,1611789131.164 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T23:12:11.165Z,1611789131.165 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T23:12:11.172Z,1611789131.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 136.966043 deg, deltaT: 4.451483 s, approachRate: -0.579582 m/s, LOS rate: -2.559569 deg/s, posRepo size: 4
2021-01-27T23:12:11.178Z,1611789131.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 136.966043 deg,
      approachRate: -0.579582 m/s,
      LOS rate: -2.559569 deg/s,
      cmd update: -10.238274 deg/s,
      cmd heading: 124.350067 deg,
      new cmd heading: 121.229549 deg.

2021-01-27T23:12:11.568Z,1611789131.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T231211: (41.551998, -70.709610)
2021-01-27T23:12:11.568Z,1611789131.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T23:12:11.568Z,1611789131.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T23:12:11.568Z,1611789131.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:12:11.568Z,1611789131.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T23:12:11.569Z,1611789131.569 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:12:11.569Z,1611789131.569 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T23:12:11.569Z,1611789131.569 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T23:12:11.569Z,1611789131.569 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T23:12:13.567Z,1611789133.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:14.338Z,1611789134.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:14.751Z,1611789134.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:15.593Z,1611789135.593 [Micromodem](INFO): Nmea in: $SNTTA,0.001935,,0.176286,,231216.09*50

2021-01-27T23:12:15.652Z,1611789135.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.759999 m, bearing: 102.285805 deg, deltaT: 4.466691 s, approachRate: -0.255223 m/s, LOS rate: -7.764190 deg/s, posRepo size: 4
2021-01-27T23:12:15.654Z,1611789135.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 102.285805 deg,
      approachRate: -0.255223 m/s,
      LOS rate: -7.764190 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 78.790637 deg,
      new cmd heading: 74.397916 deg.

2021-01-27T23:12:18.020Z,1611789138.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:18.779Z,1611789138.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:19.204Z,1611789139.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:20.025Z,1611789140.025 [Micromodem](INFO): Nmea in: $SNTTA,0.002826,,0.015651,,231220.53*50

2021-01-27T23:12:20.047Z,1611789140.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 86.497003 deg, deltaT: 4.419138 s, approachRate: 0.271546 m/s, LOS rate: -3.572824 deg/s, posRepo size: 4
2021-01-27T23:12:20.049Z,1611789140.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 86.497003 deg,
      approachRate: 0.271546 m/s,
      LOS rate: -3.572824 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 25.557652 deg,
      new cmd heading: 20.611936 deg.

2021-01-27T23:12:22.467Z,1611789142.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:23.238Z,1611789143.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:23.641Z,1611789143.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:24.457Z,1611789144.457 [Micromodem](INFO): Nmea in: $SNTTA,0.003863,,,,231224.99*4A

2021-01-27T23:12:24.503Z,1611789144.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 78.159651 deg, deltaT: 4.434754 s, approachRate: 0.432944 m/s, LOS rate: -1.880003 deg/s, posRepo size: 4
2021-01-27T23:12:24.506Z,1611789144.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 78.159651 deg,
      approachRate: 0.432944 m/s,
      LOS rate: -1.880003 deg/s,
      cmd update: -7.520014 deg/s,
      cmd heading: 332.387679 deg,
      new cmd heading: 327.138687 deg.

2021-01-27T23:12:26.882Z,1611789146.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:27.666Z,1611789147.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:28.072Z,1611789148.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:28.901Z,1611789148.901 [Micromodem](INFO): Nmea in: $SNTTA,0.005093,,,,231229.42*40

2021-01-27T23:12:28.923Z,1611789148.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 28.282193 deg, deltaT: 4.438302 s, approachRate: 0.419079 m/s, LOS rate: -11.237959 deg/s, posRepo size: 4
2021-01-27T23:12:28.925Z,1611789148.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 28.282193 deg,
      approachRate: 0.419079 m/s,
      LOS rate: -11.237959 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 298.981854 deg,
      new cmd heading: 295.860191 deg.

2021-01-27T23:12:31.401Z,1611789151.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:32.119Z,1611789152.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:32.516Z,1611789152.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:33.348Z,1611789153.348 [Micromodem](INFO): Nmea in: $SNTTA,0.006077,,,,231233.87*4B

2021-01-27T23:12:33.403Z,1611789153.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 25.134939 deg, deltaT: 4.431338 s, approachRate: 0.324958 m/s, LOS rate: -0.710227 deg/s, posRepo size: 4
2021-01-27T23:12:33.403Z,1611789153.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 9.18 m. Rolling out.
2021-01-27T23:12:33.404Z,1611789153.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-27T23:12:35.446Z,1611789155.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:36.165Z,1611789156.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:36.556Z,1611789156.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:37.389Z,1611789157.389 [Micromodem](INFO): Nmea in: $SNTTA,0.006880,,,,231237.92*4B

2021-01-27T23:12:37.442Z,1611789157.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.380001 m, bearing: 346.572541 deg, deltaT: 4.058483 s, approachRate: 0.295677 m/s, LOS rate: -9.501676 deg/s, posRepo size: 4
2021-01-27T23:12:39.798Z,1611789159.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:40.590Z,1611789160.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:41.035Z,1611789161.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:41.829Z,1611789161.829 [Micromodem](INFO): Nmea in: $SNTTA,0.007703,,0.218621,,231242.35*51

2021-01-27T23:12:41.868Z,1611789161.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.640002 m, bearing: 339.387291 deg, deltaT: 4.469133 s, approachRate: 0.281934 m/s, LOS rate: -1.607750 deg/s, posRepo size: 4
2021-01-27T23:12:44.274Z,1611789164.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:45.050Z,1611789165.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:45.448Z,1611789165.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:46.273Z,1611789166.273 [Micromodem](INFO): Nmea in: $SNTTA,0.008071,,,,231246.81*47

2021-01-27T23:12:46.324Z,1611789166.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 336.271223 deg, deltaT: 4.403033 s, approachRate: 0.149896 m/s, LOS rate: -0.707710 deg/s, posRepo size: 4
2021-01-27T23:12:48.712Z,1611789168.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:49.478Z,1611789169.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:49.888Z,1611789169.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:50.741Z,1611789170.741 [Micromodem](INFO): Nmea in: $SNTTA,0.008385,,,0.010872,231251.23*53

2021-01-27T23:12:50.767Z,1611789170.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 255.751844 deg, deltaT: 4.477537 s, approachRate: 0.080402 m/s, LOS rate: -17.982963 deg/s, posRepo size: 4
2021-01-27T23:12:52.725Z,1611789172.725 [PowerOnly](INFO): Powering down loadControl
2021-01-27T23:12:53.147Z,1611789173.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:53.922Z,1611789173.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:54.344Z,1611789174.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:55.185Z,1611789175.185 [Micromodem](INFO): Nmea in: $SNTTA,0.008475,,,,231255.68*42

2021-01-27T23:12:55.225Z,1611789175.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 231.004292 deg, deltaT: 4.427730 s, approachRate: 0.000000 m/s, LOS rate: -5.589219 deg/s, posRepo size: 4
2021-01-27T23:12:57.603Z,1611789177.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:12:58.379Z,1611789178.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:12:58.781Z,1611789178.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:12:59.617Z,1611789179.617 [Micromodem](INFO): Nmea in: $SNTTA,0.008130,,,,231300.13*4B

2021-01-27T23:12:59.642Z,1611789179.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.980000 m, bearing: 243.492911 deg, deltaT: 4.475165 s, approachRate: 0.294961 m/s, LOS rate: 2.790650 deg/s, posRepo size: 4
2021-01-27T23:13:02.031Z,1611789182.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:02.814Z,1611789182.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:03.241Z,1611789183.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:04.069Z,1611789184.069 [Micromodem](INFO): Nmea in: $SNTTA,0.007533,,,,231304.57*47

2021-01-27T23:13:04.104Z,1611789184.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.159998 m, bearing: 182.470129 deg, deltaT: 4.396261 s, approachRate: -0.641455 m/s, LOS rate: -13.880609 deg/s, posRepo size: 4
2021-01-27T23:13:06.493Z,1611789186.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:07.258Z,1611789187.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:07.680Z,1611789187.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:08.513Z,1611789188.513 [Micromodem](INFO): Nmea in: $SNTTA,0.006758,,0.017452,,231309.01*5C

2021-01-27T23:13:08.568Z,1611789188.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 217.096361 deg, deltaT: 4.437971 s, approachRate: -0.256874 m/s, LOS rate: 7.802266 deg/s, posRepo size: 4
2021-01-27T23:13:09.710Z,1611789189.710 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:13:10.921Z,1611789190.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:11.714Z,1611789191.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:12.124Z,1611789192.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:12.966Z,1611789192.966 [Micromodem](INFO): Nmea in: $SNTTA,0.006657,,,,231313.47*40

2021-01-27T23:13:13.016Z,1611789193.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 177.322448 deg, deltaT: 4.500705 s, approachRate: 0.000000 m/s, LOS rate: -8.837262 deg/s, posRepo size: 4
2021-01-27T23:13:15.406Z,1611789195.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:16.161Z,1611789196.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:16.556Z,1611789196.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:17.429Z,1611789197.429 [Micromodem](INFO): Nmea in: $SNTTA,0.007498,,,,231317.92*4C

2021-01-27T23:13:17.492Z,1611789197.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.280000 m, bearing: 228.520822 deg, deltaT: 4.394531 s, approachRate: 0.286721 m/s, LOS rate: 11.650475 deg/s, posRepo size: 4
2021-01-27T23:13:19.487Z,1611789199.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:20.210Z,1611789200.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:20.600Z,1611789200.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:21.450Z,1611789201.450 [Micromodem](INFO): Nmea in: $SNTTA,0.008848,,,0.012367,231321.97*5D

2021-01-27T23:13:21.483Z,1611789201.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 199.974661 deg, deltaT: 4.089477 s, approachRate: 0.542857 m/s, LOS rate: -6.980394 deg/s, posRepo size: 4
2021-01-27T23:13:23.992Z,1611789203.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:24.638Z,1611789204.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:25.044Z,1611789205.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:25.897Z,1611789205.897 [Micromodem](INFO): Nmea in: $SNTTA,0.010707,,,,231326.39*4C

2021-01-27T23:13:25.919Z,1611789205.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.280001 m, bearing: 234.773409 deg, deltaT: 4.421227 s, approachRate: 0.854966 m/s, LOS rate: 7.870835 deg/s, posRepo size: 4
2021-01-27T23:13:28.306Z,1611789208.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:29.078Z,1611789209.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:29.488Z,1611789209.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:30.329Z,1611789210.329 [Micromodem](INFO): Nmea in: $SNTTA,0.012890,,,,231330.83*49

2021-01-27T23:13:30.399Z,1611789210.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.499998 m, bearing: 261.251594 deg, deltaT: 4.416072 s, approachRate: 0.502709 m/s, LOS rate: 5.995868 deg/s, posRepo size: 4
2021-01-27T23:13:32.753Z,1611789212.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:33.526Z,1611789213.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:33.939Z,1611789213.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:34.778Z,1611789214.778 [Micromodem](INFO): Nmea in: $SNTTA,0.015202,,0.028259,,231335.28*51

2021-01-27T23:13:34.802Z,1611789214.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.980001 m, bearing: 275.177475 deg, deltaT: 4.524654 s, approachRate: 0.769120 m/s, LOS rate: 3.077778 deg/s, posRepo size: 4
2021-01-27T23:13:37.222Z,1611789217.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:37.984Z,1611789217.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:38.388Z,1611789218.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:39.205Z,1611789219.205 [Micromodem](INFO): Nmea in: $SNTTA,0.017475,,,,231339.74*4A

2021-01-27T23:13:39.243Z,1611789219.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 212.855291 deg, deltaT: 4.357745 s, approachRate: 0.798578 m/s, LOS rate: -14.301475 deg/s, posRepo size: 4
2021-01-27T23:13:41.649Z,1611789221.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:42.430Z,1611789222.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:42.820Z,1611789222.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:43.657Z,1611789223.657 [Micromodem](INFO): Nmea in: $SNTTA,0.019917,,,,231344.18*4D

2021-01-27T23:13:43.707Z,1611789223.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.000002 m, bearing: 263.660929 deg, deltaT: 4.504005 s, approachRate: 0.785967 m/s, LOS rate: 11.280103 deg/s, posRepo size: 4
2021-01-27T23:13:46.101Z,1611789226.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:46.855Z,1611789226.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:47.260Z,1611789227.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:48.105Z,1611789228.105 [Micromodem](INFO): Nmea in: $SNTTA,0.022336,,,0.055610,231348.61*57

2021-01-27T23:13:48.141Z,1611789228.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 267.349477 deg, deltaT: 4.399066 s, approachRate: 0.845633 m/s, LOS rate: 0.838484 deg/s, posRepo size: 4
2021-01-27T23:13:50.538Z,1611789230.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:51.298Z,1611789231.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:51.726Z,1611789231.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:52.557Z,1611789232.557 [Micromodem](INFO): Nmea in: $SNTTA,0.024870,,,,231353.05*49

2021-01-27T23:13:52.592Z,1611789232.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.500000 m, bearing: 271.874423 deg, deltaT: 4.432383 s, approachRate: 0.852815 m/s, LOS rate: 1.020883 deg/s, posRepo size: 4
2021-01-27T23:13:54.986Z,1611789234.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:13:55.742Z,1611789235.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:13:56.169Z,1611789236.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:13:57.002Z,1611789237.002 [Micromodem](INFO): Nmea in: $SNTTA,0.027316,,,,231357.50*45

2021-01-27T23:13:57.043Z,1611789237.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.159996 m, bearing: 203.750772 deg, deltaT: 4.467408 s, approachRate: 0.819266 m/s, LOS rate: -15.249033 deg/s, posRepo size: 4
2021-01-27T23:13:59.449Z,1611789239.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:00.221Z,1611789240.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:00.624Z,1611789240.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:01.465Z,1611789241.465 [Micromodem](INFO): Nmea in: $SNTTA,0.029854,,,,231401.98*46

2021-01-27T23:14:01.510Z,1611789241.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.940002 m, bearing: 225.686048 deg, deltaT: 4.457447 s, approachRate: 0.848020 m/s, LOS rate: 4.921040 deg/s, posRepo size: 4
2021-01-27T23:14:03.912Z,1611789243.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:04.662Z,1611789244.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:05.081Z,1611789245.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:05.917Z,1611789245.917 [Micromodem](INFO): Nmea in: $SNTTA,0.032306,,0.050151,,231406.42*5E

2021-01-27T23:14:05.933Z,1611789245.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.140003 m, bearing: 237.628947 deg, deltaT: 4.496461 s, approachRate: 0.934068 m/s, LOS rate: 2.656067 deg/s, posRepo size: 4
2021-01-27T23:14:08.341Z,1611789248.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:09.102Z,1611789249.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:09.508Z,1611789249.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:10.364Z,1611789250.364 [Micromodem](INFO): Nmea in: $SNTTA,0.034813,,,,231410.86*46

2021-01-27T23:14:10.421Z,1611789250.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.799999 m, bearing: 220.346930 deg, deltaT: 4.405336 s, approachRate: 0.830810 m/s, LOS rate: -3.922974 deg/s, posRepo size: 4
2021-01-27T23:14:12.771Z,1611789252.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:13.550Z,1611789253.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:13.971Z,1611789253.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:14.797Z,1611789254.797 [Micromodem](INFO): Nmea in: $SNTTA,0.037268,,,,231415.31*4A

2021-01-27T23:14:14.822Z,1611789254.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 229.195167 deg, deltaT: 4.501021 s, approachRate: 0.813148 m/s, LOS rate: 1.965829 deg/s, posRepo size: 4
2021-01-27T23:14:17.246Z,1611789257.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:18.004Z,1611789258.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:18.424Z,1611789258.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:19.266Z,1611789259.266 [Micromodem](INFO): Nmea in: $SNTTA,0.039773,,,,231419.76*44

2021-01-27T23:14:19.338Z,1611789259.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.300003 m, bearing: 233.917778 deg, deltaT: 4.364453 s, approachRate: 0.879837 m/s, LOS rate: 1.082063 deg/s, posRepo size: 4
2021-01-27T23:14:21.665Z,1611789261.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:22.452Z,1611789262.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:22.844Z,1611789262.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:23.685Z,1611789263.685 [Micromodem](INFO): Nmea in: $SNTTA,0.042250,,,,231424.21*40

2021-01-27T23:14:23.721Z,1611789263.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.959999 m, bearing: 231.341458 deg, deltaT: 4.477633 s, approachRate: 0.817395 m/s, LOS rate: -0.575375 deg/s, posRepo size: 4
2021-01-27T23:14:26.131Z,1611789266.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:26.878Z,1611789266.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:27.296Z,1611789267.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:28.141Z,1611789268.141 [Micromodem](INFO): Nmea in: $SNTTA,0.044718,,,,231428.63*45

2021-01-27T23:14:28.214Z,1611789268.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.680000 m, bearing: 235.514621 deg, deltaT: 4.447625 s, approachRate: 0.836402 m/s, LOS rate: 0.938290 deg/s, posRepo size: 4
2021-01-27T23:14:30.558Z,1611789270.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:31.357Z,1611789271.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:31.736Z,1611789271.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:32.551Z,1611789272.551 [Micromodem](INFO): Nmea in: $SNTTA,0.047087,,,,231433.11*48

2021-01-27T23:14:32.605Z,1611789272.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.739998 m, bearing: 227.184523 deg, deltaT: 4.469913 s, approachRate: 0.684577 m/s, LOS rate: -1.863593 deg/s, posRepo size: 4
2021-01-27T23:14:34.993Z,1611789274.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:35.774Z,1611789275.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:36.204Z,1611789276.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:37.021Z,1611789277.021 [Micromodem](INFO): Nmea in: $SNTTA,0.049471,,,,231437.53*49

2021-01-27T23:14:37.054Z,1611789277.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.760002 m, bearing: 239.426052 deg, deltaT: 4.394990 s, approachRate: 0.914679 m/s, LOS rate: 2.785337 deg/s, posRepo size: 4
2021-01-27T23:14:39.474Z,1611789279.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:40.242Z,1611789280.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:40.624Z,1611789280.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:41.457Z,1611789281.457 [Micromodem](INFO): Nmea in: $SNTTA,0.051834,,,,231442.00*49

2021-01-27T23:14:41.507Z,1611789281.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 242.390382 deg, deltaT: 4.438557 s, approachRate: 0.702932 m/s, LOS rate: 0.667859 deg/s, posRepo size: 4
2021-01-27T23:14:43.951Z,1611789283.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:44.673Z,1611789284.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:45.068Z,1611789285.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:45.901Z,1611789285.901 [Micromodem](INFO): Nmea in: $SNTTA,0.054138,,,,231446.43*4A

2021-01-27T23:14:45.923Z,1611789285.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.720001 m, bearing: 238.175663 deg, deltaT: 4.491902 s, approachRate: 0.854871 m/s, LOS rate: -0.938293 deg/s, posRepo size: 4
2021-01-27T23:14:48.323Z,1611789288.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:49.106Z,1611789289.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:49.520Z,1611789289.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:50.364Z,1611789290.364 [Micromodem](INFO): Nmea in: $SNTTA,0.056466,,,,231450.86*48

2021-01-27T23:14:50.416Z,1611789290.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.199997 m, bearing: 236.912351 deg, deltaT: 4.391802 s, approachRate: 0.792385 m/s, LOS rate: -0.287652 deg/s, posRepo size: 4
2021-01-27T23:14:52.761Z,1611789292.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:53.558Z,1611789293.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:53.969Z,1611789293.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:54.789Z,1611789294.789 [Micromodem](INFO): Nmea in: $SNTTA,0.058775,,,,231455.31*4E

2021-01-27T23:14:54.804Z,1611789294.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.680000 m, bearing: 237.096685 deg, deltaT: 4.499025 s, approachRate: 0.773502 m/s, LOS rate: 0.040972 deg/s, posRepo size: 4
2021-01-27T23:14:57.231Z,1611789297.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:14:58.006Z,1611789298.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:14:58.416Z,1611789298.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:14:59.265Z,1611789299.265 [Micromodem](INFO): Nmea in: $SNTTA,0.061059,,,,231459.76*42

2021-01-27T23:14:59.307Z,1611789299.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.100006 m, bearing: 240.936043 deg, deltaT: 4.403328 s, approachRate: 0.776687 m/s, LOS rate: 0.871922 deg/s, posRepo size: 4
2021-01-27T23:15:01.685Z,1611789301.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:02.442Z,1611789302.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:02.848Z,1611789302.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:03.685Z,1611789303.685 [Micromodem](INFO): Nmea in: $SNTTA,0.063345,,,,231504.20*44

2021-01-27T23:15:03.721Z,1611789303.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.520004 m, bearing: 239.686009 deg, deltaT: 4.466605 s, approachRate: 0.765682 m/s, LOS rate: -0.279862 deg/s, posRepo size: 4
2021-01-27T23:15:06.108Z,1611789306.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:06.890Z,1611789306.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:07.296Z,1611789307.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:08.125Z,1611789308.125 [Micromodem](INFO): Nmea in: $SNTTA,0.065712,,,,231508.65*49

2021-01-27T23:15:08.194Z,1611789308.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.000000 m, bearing: 239.701500 deg, deltaT: 4.417154 s, approachRate: 0.787837 m/s, LOS rate: 0.003507 deg/s, posRepo size: 4
2021-01-27T23:15:10.571Z,1611789310.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:11.346Z,1611789311.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:11.741Z,1611789311.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:12.565Z,1611789312.565 [Micromodem](INFO): Nmea in: $SNTTA,0.067951,,,,231513.10*4A

2021-01-27T23:15:12.611Z,1611789312.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 240.526177 deg, deltaT: 4.491409 s, approachRate: 0.681300 m/s, LOS rate: 0.183612 deg/s, posRepo size: 4
2021-01-27T23:15:15.009Z,1611789315.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:15.782Z,1611789315.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:16.228Z,1611789316.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:17.013Z,1611789317.013 [Micromodem](INFO): Nmea in: $SNTTA,0.070168,,,,231517.54*4A

2021-01-27T23:15:17.050Z,1611789317.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 242.068488 deg, deltaT: 4.425109 s, approachRate: 0.840658 m/s, LOS rate: 0.348536 deg/s, posRepo size: 4
2021-01-27T23:15:19.462Z,1611789319.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:20.238Z,1611789320.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:20.624Z,1611789320.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:21.457Z,1611789321.457 [Micromodem](INFO): Nmea in: $SNTTA,0.072533,,,,231521.99*46

2021-01-27T23:15:21.493Z,1611789321.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.139999 m, bearing: 231.091309 deg, deltaT: 4.429458 s, approachRate: 0.758558 m/s, LOS rate: -2.478222 deg/s, posRepo size: 4
2021-01-27T23:15:24.009Z,1611789324.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:24.670Z,1611789324.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:25.083Z,1611789325.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:25.906Z,1611789325.906 [Micromodem](INFO): Nmea in: $SNTTA,0.074948,,,,231526.43*40

2021-01-27T23:15:25.943Z,1611789325.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.560005 m, bearing: 242.428084 deg, deltaT: 4.473705 s, approachRate: 0.764468 m/s, LOS rate: 2.534091 deg/s, posRepo size: 4
2021-01-27T23:15:28.395Z,1611789328.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:29.106Z,1611789329.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:29.516Z,1611789329.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:30.369Z,1611789330.369 [Micromodem](INFO): Nmea in: $SNTTA,0.077266,,,,231530.86*4A

2021-01-27T23:15:30.428Z,1611789330.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.279999 m, bearing: 243.516434 deg, deltaT: 4.393851 s, approachRate: 0.846636 m/s, LOS rate: 0.247698 deg/s, posRepo size: 4
2021-01-27T23:15:31.550Z,1611789331.550 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:15:32.439Z,1611789332.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:33.155Z,1611789333.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:33.556Z,1611789333.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:34.421Z,1611789334.421 [Micromodem](INFO): Nmea in: $SNTTA,0.079397,,,,231534.91*49

2021-01-27T23:15:34.469Z,1611789334.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 242.271181 deg, deltaT: 4.081445 s, approachRate: 0.779136 m/s, LOS rate: -0.305101 deg/s, posRepo size: 4
2021-01-27T23:15:36.438Z,1611789336.438 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:15:36.809Z,1611789336.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:37.590Z,1611789337.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:38.006Z,1611789338.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:38.837Z,1611789338.837 [Micromodem](INFO): Nmea in: $SNTTA,0.081683,,,,231539.34*4C

2021-01-27T23:15:38.871Z,1611789338.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 237.217797 deg, deltaT: 4.460982 s, approachRate: 0.766647 m/s, LOS rate: -1.132796 deg/s, posRepo size: 4
2021-01-27T23:15:41.282Z,1611789341.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:42.046Z,1611789342.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:42.455Z,1611789342.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:43.413Z,1611789343.413 [Micromodem](INFO): Nmea in: $SNTTA,0.083971,,,,231543.80*4E

2021-01-27T23:15:43.469Z,1611789343.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.419998 m, bearing: 241.561197 deg, deltaT: 4.408876 s, approachRate: 0.802926 m/s, LOS rate: 0.985149 deg/s, posRepo size: 4
2021-01-27T23:15:45.717Z,1611789345.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:46.482Z,1611789346.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:46.564Z,1611789346.564 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:15:46.892Z,1611789346.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:47.733Z,1611789347.733 [Micromodem](INFO): Nmea in: $SNTTA,0.086333,,,,231548.24*42

2021-01-27T23:15:47.758Z,1611789347.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.840012 m, bearing: 240.074784 deg, deltaT: 4.462151 s, approachRate: 0.766450 m/s, LOS rate: -0.333116 deg/s, posRepo size: 4
2021-01-27T23:15:50.150Z,1611789350.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:50.930Z,1611789350.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:51.337Z,1611789351.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:51.382Z,1611789351.382 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:15:52.185Z,1611789352.185 [Micromodem](INFO): Nmea in: $SNTTA,0.088628,,,,231552.68*40

2021-01-27T23:15:52.240Z,1611789352.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.080002 m, bearing: 242.127283 deg, deltaT: 4.442200 s, approachRate: 0.729366 m/s, LOS rate: 0.462046 deg/s, posRepo size: 4
2021-01-27T23:15:54.605Z,1611789354.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:55.394Z,1611789355.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:15:55.784Z,1611789355.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:15:56.231Z,1611789356.231 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:15:56.605Z,1611789356.605 [Micromodem](INFO): Nmea in: $SNTTA,0.091073,,,,231557.15*4F

2021-01-27T23:15:56.642Z,1611789356.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 246.101333 deg, deltaT: 4.459935 s, approachRate: 0.820641 m/s, LOS rate: 0.891056 deg/s, posRepo size: 4
2021-01-27T23:15:59.044Z,1611789359.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:15:59.814Z,1611789359.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:00.253Z,1611789360.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:01.073Z,1611789361.073 [Micromodem](INFO): Nmea in: $SNTTA,0.093290,,,,231601.57*44

2021-01-27T23:16:01.095Z,1611789361.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.039993 m, bearing: 242.098760 deg, deltaT: 4.428504 s, approachRate: 0.745170 m/s, LOS rate: -0.903821 deg/s, posRepo size: 4
2021-01-27T23:16:01.465Z,1611789361.465 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:16:03.501Z,1611789363.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:04.278Z,1611789364.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:04.672Z,1611789364.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:05.510Z,1611789365.510 [Micromodem](INFO): Nmea in: $SNTTA,0.095698,,,,231606.03*48

2021-01-27T23:16:05.543Z,1611789365.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.820007 m, bearing: 242.790358 deg, deltaT: 4.428931 s, approachRate: 0.853482 m/s, LOS rate: 0.156155 deg/s, posRepo size: 4
2021-01-27T23:16:07.917Z,1611789367.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:08.706Z,1611789368.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:09.108Z,1611789369.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:09.953Z,1611789369.953 [Micromodem](INFO): Nmea in: $SNTTA,0.097993,,,,231610.46*48

2021-01-27T23:16:10.005Z,1611789370.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.180008 m, bearing: 241.971828 deg, deltaT: 4.487762 s, approachRate: 0.748703 m/s, LOS rate: -0.182392 deg/s, posRepo size: 4
2021-01-27T23:16:11.575Z,1611789371.575 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T23:16:12.403Z,1611789372.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:13.150Z,1611789373.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:13.568Z,1611789373.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:14.413Z,1611789374.413 [Micromodem](INFO): Nmea in: $SNTTA,0.100388,,,,231614.90*48

2021-01-27T23:16:14.459Z,1611789374.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.720001 m, bearing: 242.982259 deg, deltaT: 4.406251 s, approachRate: 0.803403 m/s, LOS rate: 0.229318 deg/s, posRepo size: 4
2021-01-27T23:16:14.460Z,1611789374.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.72 m. Resuming terminal guidance.
2021-01-27T23:16:14.460Z,1611789374.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-27T23:16:16.802Z,1611789376.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:17.605Z,1611789377.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:18.021Z,1611789378.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:18.902Z,1611789378.902 [Micromodem](INFO): Nmea in: $SNTTA,0.102648,,,,231619.36*42

2021-01-27T23:16:18.923Z,1611789378.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.080002 m, bearing: 240.299469 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-27T23:16:18.925Z,1611789378.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 240.299469deg and heading rate command to 0 deg/s.
2021-01-27T23:16:21.394Z,1611789381.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:22.038Z,1611789382.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:22.453Z,1611789382.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:23.290Z,1611789383.290 [Micromodem](INFO): Nmea in: $SNTTA,0.105080,,,,231623.79*45

2021-01-27T23:16:23.358Z,1611789383.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.859985 m, bearing: 234.255135 deg, deltaT: 4.416747 s, approachRate: 0.855830 m/s, LOS rate: -1.368504 deg/s, posRepo size: 2
2021-01-27T23:16:23.375Z,1611789383.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.859985 m,
      bearing: 234.255135 deg,
      approachRate: 0.855830 m/s,
      LOS rate: -1.368504 deg/s,
      cmd update: -5.474015 deg/s,
      cmd heading: 240.299469 deg,
      new cmd heading: 240.299469 deg.

2021-01-27T23:16:25.719Z,1611789385.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:26.499Z,1611789386.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:26.607Z,1611789386.607 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T23:16:26.881Z,1611789386.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:27.721Z,1611789387.721 [Micromodem](INFO): Nmea in: $SNTTA,0.107322,,,,231628.26*4D

2021-01-27T23:16:27.768Z,1611789387.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 226.404857 deg, deltaT: 4.500166 s, approachRate: 0.639977 m/s, LOS rate: -1.744442 deg/s, posRepo size: 3
2021-01-27T23:16:27.770Z,1611789387.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.739990 m,
      bearing: 226.404857 deg,
      approachRate: 0.639977 m/s,
      LOS rate: -1.744442 deg/s,
      cmd update: -6.977767 deg/s,
      cmd heading: 215.688435 deg,
      new cmd heading: 213.605326 deg.

2021-01-27T23:16:30.173Z,1611789390.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:30.931Z,1611789390.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:31.350Z,1611789391.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:32.189Z,1611789392.189 [Micromodem](INFO): Nmea in: $SNTTA,0.109342,,,,231632.68*44

2021-01-27T23:16:32.234Z,1611789392.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 225.545742 deg, deltaT: 4.402538 s, approachRate: 0.776828 m/s, LOS rate: -0.195141 deg/s, posRepo size: 4
2021-01-27T23:16:32.235Z,1611789392.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 225.545742 deg,
      approachRate: 0.776828 m/s,
      LOS rate: -0.195141 deg/s,
      cmd update: -0.780563 deg/s,
      cmd heading: 185.020121 deg,
      new cmd heading: 181.844672 deg.

2021-01-27T23:16:34.609Z,1611789394.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:35.379Z,1611789395.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:35.790Z,1611789395.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:36.615Z,1611789396.615 [Micromodem](INFO): Nmea in: $SNTTA,0.110969,,,,231637.18*4D

2021-01-27T23:16:36.674Z,1611789396.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 175.105328 deg, deltaT: 4.496821 s, approachRate: 0.000000 m/s, LOS rate: -11.216905 deg/s, posRepo size: 4
2021-01-27T23:16:36.680Z,1611789396.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 175.105328 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -11.216905 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 181.504027 deg,
      new cmd heading: 181.198825 deg.

2021-01-27T23:16:39.058Z,1611789399.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:39.826Z,1611789399.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:40.254Z,1611789400.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:41.057Z,1611789401.057 [Micromodem](INFO): Nmea in: $SNTTA,0.111854,,,,231641.58*46

2021-01-27T23:16:41.095Z,1611789401.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 130.634758 deg, deltaT: 4.393289 s, approachRate: 0.000000 m/s, LOS rate: -10.122386 deg/s, posRepo size: 4
2021-01-27T23:16:41.097Z,1611789401.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 130.634758 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -10.122386 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 128.784162 deg,
      new cmd heading: 123.766350 deg.

2021-01-27T23:16:43.513Z,1611789403.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:44.274Z,1611789404.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:44.676Z,1611789404.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:45.517Z,1611789405.517 [Micromodem](INFO): Nmea in: $SNTTA,0.112397,,,,231646.03*48

2021-01-27T23:16:45.595Z,1611789405.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 101.610607 deg, deltaT: 4.414608 s, approachRate: 0.000000 m/s, LOS rate: -6.574571 deg/s, posRepo size: 4
2021-01-27T23:16:45.601Z,1611789405.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 101.610607 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.574571 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 75.776453 deg,
      new cmd heading: 69.775589 deg.

2021-01-27T23:16:47.913Z,1611789407.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:48.716Z,1611789408.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:49.120Z,1611789409.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:49.953Z,1611789409.953 [Micromodem](INFO): Nmea in: $SNTTA,0.112066,,,,231650.47*42

2021-01-27T23:16:49.981Z,1611789409.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 63.846225 deg, deltaT: 4.490701 s, approachRate: 0.000000 m/s, LOS rate: -8.409463 deg/s, posRepo size: 4
2021-01-27T23:16:49.983Z,1611789409.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 63.846225 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.409463 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 21.967684 deg,
      new cmd heading: 17.143348 deg.

2021-01-27T23:16:52.397Z,1611789412.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:53.170Z,1611789413.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:53.568Z,1611789413.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:54.401Z,1611789414.401 [Micromodem](INFO): Nmea in: $SNTTA,0.111126,,,,231654.93*49

2021-01-27T23:16:54.451Z,1611789414.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 44.223593 deg, deltaT: 4.417107 s, approachRate: 0.000000 m/s, LOS rate: -4.442417 deg/s, posRepo size: 4
2021-01-27T23:16:54.453Z,1611789414.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 44.223593 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.442417 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 329.085111 deg,
      new cmd heading: 323.490771 deg.

2021-01-27T23:16:56.805Z,1611789416.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:16:57.598Z,1611789417.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:16:58.008Z,1611789418.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:16:58.845Z,1611789418.845 [Micromodem](INFO): Nmea in: $SNTTA,0.109813,,,,231659.35*4E

2021-01-27T23:16:58.870Z,1611789418.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.459991 m, bearing: 60.210501 deg, deltaT: 4.466359 s, approachRate: 0.067166 m/s, LOS rate: 3.579405 deg/s, posRepo size: 4
2021-01-27T23:16:58.892Z,1611789418.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.459991 m,
      bearing: 60.210501 deg,
      approachRate: 0.067166 m/s,
      LOS rate: 3.579405 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 275.462438 deg,
      new cmd heading: 270.457249 deg.

2021-01-27T23:17:01.285Z,1611789421.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:02.042Z,1611789422.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:02.448Z,1611789422.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:03.285Z,1611789423.285 [Micromodem](INFO): Nmea in: $SNTTA,0.107918,,,,231703.80*4A

2021-01-27T23:17:03.324Z,1611789423.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 63.293307 deg, deltaT: 4.416851 s, approachRate: -0.611295 m/s, LOS rate: 0.697965 deg/s, posRepo size: 4
2021-01-27T23:17:03.326Z,1611789423.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.759995 m,
      bearing: 63.293307 deg,
      approachRate: -0.611295 m/s,
      LOS rate: 0.697965 deg/s,
      cmd update: 2.791859 deg/s,
      cmd heading: 328.456660 deg,
      new cmd heading: 333.909100 deg.

2021-01-27T23:17:05.751Z,1611789425.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:06.482Z,1611789426.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:06.898Z,1611789426.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:07.737Z,1611789427.737 [Micromodem](INFO): Nmea in: $SNTTA,0.106119,,,,231708.24*47

2021-01-27T23:17:07.787Z,1611789427.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.120010 m, bearing: 62.889909 deg, deltaT: 4.496327 s, approachRate: -0.587142 m/s, LOS rate: -0.089717 deg/s, posRepo size: 4
2021-01-27T23:17:07.793Z,1611789427.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.120010 m,
      bearing: 62.889909 deg,
      approachRate: -0.587142 m/s,
      LOS rate: -0.089717 deg/s,
      cmd update: -0.358869 deg/s,
      cmd heading: 341.045156 deg,
      new cmd heading: 342.184865 deg.

2021-01-27T23:17:10.158Z,1611789430.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:10.926Z,1611789430.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:11.343Z,1611789431.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:12.200Z,1611789432.200 [Micromodem](INFO): Nmea in: $SNTTA,0.104475,,,,231712.68*49

2021-01-27T23:17:12.239Z,1611789432.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.479996 m, bearing: 65.469125 deg, deltaT: 4.421455 s, approachRate: -0.597092 m/s, LOS rate: 0.583341 deg/s, posRepo size: 4
2021-01-27T23:17:12.241Z,1611789432.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.479996 m,
      bearing: 65.469125 deg,
      approachRate: -0.597092 m/s,
      LOS rate: 0.583341 deg/s,
      cmd update: 2.333364 deg/s,
      cmd heading: 339.458458 deg,
      new cmd heading: 339.300700 deg.

2021-01-27T23:17:14.607Z,1611789434.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:15.405Z,1611789435.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:15.788Z,1611789435.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:16.603Z,1611789436.603 [Micromodem](INFO): Nmea in: $SNTTA,0.103241,,,,231717.16*43

2021-01-27T23:17:16.640Z,1611789436.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 17.630274 deg, deltaT: 4.507501 s, approachRate: -0.346089 m/s, LOS rate: -10.613165 deg/s, posRepo size: 4
2021-01-27T23:17:16.642Z,1611789436.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.919998 m,
      bearing: 17.630274 deg,
      approachRate: -0.346089 m/s,
      LOS rate: -10.613165 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 349.957703 deg,
      new cmd heading: 350.751973 deg.

2021-01-27T23:17:19.027Z,1611789439.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:19.823Z,1611789439.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:20.244Z,1611789440.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:21.073Z,1611789441.073 [Micromodem](INFO): Nmea in: $SNTTA,0.102751,,,,231721.58*49

2021-01-27T23:17:21.088Z,1611789441.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.200012 m, bearing: 327.872467 deg, deltaT: 4.362755 s, approachRate: -0.165030 m/s, LOS rate: -11.405134 deg/s, posRepo size: 4
2021-01-27T23:17:21.090Z,1611789441.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.200012 m,
      bearing: 327.872467 deg,
      approachRate: -0.165030 m/s,
      LOS rate: -11.405134 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 297.461421 deg,
      new cmd heading: 292.500453 deg.

2021-01-27T23:17:23.502Z,1611789443.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:24.266Z,1611789444.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:24.676Z,1611789444.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:25.509Z,1611789445.509 [Micromodem](INFO): Nmea in: $SNTTA,0.102535,,,,231726.02*41

2021-01-27T23:17:25.554Z,1611789445.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.720001 m, bearing: 33.066739 deg, deltaT: 4.422173 s, approachRate: -0.108546 m/s, LOS rate: 14.742589 deg/s, posRepo size: 4
2021-01-27T23:17:25.555Z,1611789445.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.742589 deg/s. Setting heading cmd to target bearing of 33.066739deg and heading rate command to 0 deg/s.
2021-01-27T23:17:27.928Z,1611789447.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:28.710Z,1611789448.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:29.116Z,1611789449.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:29.941Z,1611789449.941 [Micromodem](INFO): Nmea in: $SNTTA,0.103111,,,,231730.46*45

2021-01-27T23:17:29.980Z,1611789449.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 351.670048 deg, deltaT: 4.474783 s, approachRate: 0.268169 m/s, LOS rate: -9.251108 deg/s, posRepo size: 4
2021-01-27T23:17:29.983Z,1611789449.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.919998 m,
      bearing: 351.670048 deg,
      approachRate: 0.268169 m/s,
      LOS rate: -9.251108 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 33.066739 deg,
      new cmd heading: 33.066739 deg.

2021-01-27T23:17:32.433Z,1611789452.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:33.143Z,1611789453.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:33.548Z,1611789453.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:34.426Z,1611789454.426 [Micromodem](INFO): Nmea in: $SNTTA,0.104718,,,,231734.90*42

2021-01-27T23:17:34.522Z,1611789454.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.139999 m, bearing: 335.887175 deg, deltaT: 4.452972 s, approachRate: 0.498544 m/s, LOS rate: -3.544346 deg/s, posRepo size: 4
2021-01-27T23:17:34.532Z,1611789454.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.139999 m,
      bearing: 335.887175 deg,
      approachRate: 0.498544 m/s,
      LOS rate: -3.544346 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 339.729234 deg,
      new cmd heading: 333.658662 deg.

2021-01-27T23:17:36.826Z,1611789456.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:37.598Z,1611789457.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:38.012Z,1611789458.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:38.857Z,1611789458.857 [Micromodem](INFO): Nmea in: $SNTTA,0.106164,,,,231739.36*4C

2021-01-27T23:17:38.917Z,1611789458.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.479996 m, bearing: 319.869261 deg, deltaT: 4.517928 s, approachRate: 0.517936 m/s, LOS rate: -3.545411 deg/s, posRepo size: 4
2021-01-27T23:17:38.919Z,1611789458.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.479996 m,
      bearing: 319.869261 deg,
      approachRate: 0.517936 m/s,
      LOS rate: -3.545411 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 285.660316 deg,
      new cmd heading: 281.013736 deg.

2021-01-27T23:17:41.308Z,1611789461.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:42.073Z,1611789462.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:42.470Z,1611789462.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:43.309Z,1611789463.309 [Micromodem](INFO): Nmea in: $SNTTA,0.107785,,,,231743.83*47

2021-01-27T23:17:43.390Z,1611789463.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 355.340837 deg, deltaT: 4.381362 s, approachRate: 0.438219 m/s, LOS rate: 8.096016 deg/s, posRepo size: 4
2021-01-27T23:17:43.392Z,1611789463.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 355.340837 deg,
      approachRate: 0.438219 m/s,
      LOS rate: 8.096016 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.084175 deg,
      new cmd heading: 227.239250 deg.

2021-01-27T23:17:45.743Z,1611789465.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:46.510Z,1611789466.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:46.928Z,1611789466.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:47.753Z,1611789467.753 [Micromodem](INFO): Nmea in: $SNTTA,0.109227,,,,231748.27*41

2021-01-27T23:17:47.778Z,1611789467.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 324.513380 deg, deltaT: 4.475792 s, approachRate: 0.000000 m/s, LOS rate: -6.887598 deg/s, posRepo size: 4
2021-01-27T23:17:47.781Z,1611789467.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 324.513380 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.887598 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 286.944245 deg,
      new cmd heading: 291.589709 deg.

2021-01-27T23:17:50.158Z,1611789470.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:50.964Z,1611789470.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:51.380Z,1611789471.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:52.192Z,1611789472.192 [Micromodem](INFO): Nmea in: $SNTTA,0.110844,,,,231752.72*4D

2021-01-27T23:17:52.233Z,1611789472.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 261.882840 deg, deltaT: 4.379750 s, approachRate: 0.000000 m/s, LOS rate: -14.300026 deg/s, posRepo size: 4
2021-01-27T23:17:52.233Z,1611789472.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.300026 deg/s. Setting heading cmd to target bearing of 261.882840deg and heading rate command to 0 deg/s.
2021-01-27T23:17:54.622Z,1611789474.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:55.414Z,1611789475.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:17:55.800Z,1611789475.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:17:56.637Z,1611789476.637 [Micromodem](INFO): Nmea in: $SNTTA,0.112871,,,,231757.17*4F

2021-01-27T23:17:56.684Z,1611789476.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 266.648645 deg, deltaT: 4.492935 s, approachRate: 0.000000 m/s, LOS rate: 1.060733 deg/s, posRepo size: 4
2021-01-27T23:17:56.686Z,1611789476.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 266.648645 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.060733 deg/s,
      cmd update: 4.242933 deg/s,
      cmd heading: 261.882840 deg,
      new cmd heading: 261.882840 deg.

2021-01-27T23:17:59.050Z,1611789479.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:17:59.847Z,1611789479.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:00.248Z,1611789480.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:01.093Z,1611789481.093 [Micromodem](INFO): Nmea in: $SNTTA,0.115213,,,,231801.60*4A

2021-01-27T23:18:01.139Z,1611789481.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 294.087646 deg, deltaT: 4.413830 s, approachRate: 0.000000 m/s, LOS rate: 6.216597 deg/s, posRepo size: 4
2021-01-27T23:18:01.141Z,1611789481.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 294.087646 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.216597 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.690995 deg,
      new cmd heading: 282.619696 deg.

2021-01-27T23:18:03.522Z,1611789483.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:04.282Z,1611789484.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:04.695Z,1611789484.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:05.525Z,1611789485.525 [Micromodem](INFO): Nmea in: $SNTTA,0.117566,,,,231806.04*48

2021-01-27T23:18:05.559Z,1611789485.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 272.205305 deg, deltaT: 4.450946 s, approachRate: 0.000000 m/s, LOS rate: -4.916335 deg/s, posRepo size: 4
2021-01-27T23:18:05.561Z,1611789485.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 272.205305 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.916335 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 334.065867 deg,
      new cmd heading: 339.191955 deg.

2021-01-27T23:18:07.954Z,1611789487.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:08.726Z,1611789488.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:09.147Z,1611789489.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:09.979Z,1611789489.979 [Micromodem](INFO): Nmea in: $SNTTA,0.119209,,,,231810.48*47

2021-01-27T23:18:10.010Z,1611789490.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 289.611468 deg, deltaT: 4.481279 s, approachRate: 0.000000 m/s, LOS rate: 3.884195 deg/s, posRepo size: 4
2021-01-27T23:18:10.036Z,1611789490.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 289.611468 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.884195 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.330418 deg,
      new cmd heading: 275.535770 deg.

2021-01-27T23:18:12.445Z,1611789492.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:13.178Z,1611789493.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:13.579Z,1611789493.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:14.412Z,1611789494.412 [Micromodem](INFO): Nmea in: $SNTTA,0.120531,,,,231814.93*43

2021-01-27T23:18:14.827Z,1611789494.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.839996 m, bearing: 356.913857 deg, deltaT: 4.869624 s, approachRate: 3.992095 m/s, LOS rate: 13.820860 deg/s, posRepo size: 4
2021-01-27T23:18:14.828Z,1611789494.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.820860 deg/s. Setting heading cmd to target bearing of 356.913857deg and heading rate command to 0 deg/s.
2021-01-27T23:18:17.277Z,1611789497.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:18.026Z,1611789498.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:18.424Z,1611789498.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:19.256Z,1611789499.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231819.78*51

2021-01-27T23:18:19.683Z,1611789499.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.000000 m, bearing: 350.231118 deg, deltaT: 4.792686 s, approachRate: 0.450687 m/s, LOS rate: -1.394362 deg/s, posRepo size: 4
2021-01-27T23:18:19.685Z,1611789499.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.000000 m,
      bearing: 350.231118 deg,
      approachRate: 0.450687 m/s,
      LOS rate: -1.394362 deg/s,
      cmd update: -5.577448 deg/s,
      cmd heading: 356.913857 deg,
      new cmd heading: 356.913857 deg.

2021-01-27T23:18:22.102Z,1611789502.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:22.868Z,1611789502.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:23.279Z,1611789503.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:24.119Z,1611789504.119 [Micromodem](INFO): Nmea in: $SNTTA,0.122768,,,,231824.62*42

2021-01-27T23:18:24.542Z,1611789504.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.140015 m, bearing: 39.315006 deg, deltaT: 4.854125 s, approachRate: 0.234855 m/s, LOS rate: 10.111789 deg/s, posRepo size: 4
2021-01-27T23:18:24.548Z,1611789504.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.140015 m,
      bearing: 39.315006 deg,
      approachRate: 0.234855 m/s,
      LOS rate: 10.111789 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 329.841472 deg,
      new cmd heading: 327.565645 deg.

2021-01-27T23:18:26.942Z,1611789506.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:27.710Z,1611789507.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:28.129Z,1611789508.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:28.955Z,1611789508.955 [Micromodem](INFO): Nmea in: $SNTTA,0.123127,,,,231829.46*45

2021-01-27T23:18:29.396Z,1611789509.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.739990 m, bearing: 45.687832 deg, deltaT: 4.840915 s, approachRate: 0.123938 m/s, LOS rate: 1.316451 deg/s, posRepo size: 4
2021-01-27T23:18:29.398Z,1611789509.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 45.687832 deg,
      approachRate: 0.123938 m/s,
      LOS rate: 1.316451 deg/s,
      cmd update: 5.265803 deg/s,
      cmd heading: 27.903954 deg,
      new cmd heading: 32.987130 deg.

2021-01-27T23:18:31.766Z,1611789511.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:32.571Z,1611789512.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:32.651Z,1611789512.651 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T23:18:32.980Z,1611789512.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:33.806Z,1611789513.806 [Micromodem](INFO): Nmea in: $SNTTA,0.123766,,,,231834.32*49

2021-01-27T23:18:33.835Z,1611789513.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.739990 m, bearing: 314.818937 deg, deltaT: 4.479383 s, approachRate: 0.000000 m/s, LOS rate: -20.286032 deg/s, posRepo size: 4
2021-01-27T23:18:33.835Z,1611789513.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.286032 deg/s. Setting heading cmd to target bearing of 314.818937deg and heading rate command to 0 deg/s.
2021-01-27T23:18:36.271Z,1611789516.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:37.006Z,1611789517.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:37.432Z,1611789517.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:38.252Z,1611789518.252 [Micromodem](INFO): Nmea in: $SNTTA,0.123576,,,,231838.76*46

2021-01-27T23:18:38.673Z,1611789518.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 50.936115 deg, deltaT: 4.820948 s, approachRate: 0.136903 m/s, LOS rate: 19.937401 deg/s, posRepo size: 4
2021-01-27T23:18:38.673Z,1611789518.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.937401 deg/s. Setting heading cmd to target bearing of 50.936115deg and heading rate command to 0 deg/s.
2021-01-27T23:18:41.070Z,1611789521.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:41.850Z,1611789521.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:42.264Z,1611789522.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:43.101Z,1611789523.101 [Micromodem](INFO): Nmea in: $SNTTA,0.122873,,,,231843.60*44

2021-01-27T23:18:43.131Z,1611789523.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 34.677874 deg, deltaT: 4.427784 s, approachRate: 0.000000 m/s, LOS rate: -3.671869 deg/s, posRepo size: 4
2021-01-27T23:18:43.133Z,1611789523.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 34.677874 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.671869 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 50.936115 deg,
      new cmd heading: 50.936115 deg.

2021-01-27T23:18:45.541Z,1611789525.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:46.333Z,1611789526.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:46.712Z,1611789526.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:47.534Z,1611789527.534 [Micromodem](INFO): Nmea in: $SNTTA,0.122188,,,,231848.09*4D

2021-01-27T23:18:47.952Z,1611789527.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.180008 m, bearing: 38.356160 deg, deltaT: 4.888513 s, approachRate: -0.454123 m/s, LOS rate: 0.752434 deg/s, posRepo size: 4
2021-01-27T23:18:47.954Z,1611789527.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.180008 m,
      bearing: 38.356160 deg,
      approachRate: -0.454123 m/s,
      LOS rate: 0.752434 deg/s,
      cmd update: 3.009738 deg/s,
      cmd heading: 352.263721 deg,
      new cmd heading: 347.939737 deg.

2021-01-27T23:18:50.400Z,1611789530.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:51.147Z,1611789531.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:51.562Z,1611789531.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:52.400Z,1611789532.400 [Micromodem](INFO): Nmea in: $SNTTA,0.121223,,,,231852.90*47

2021-01-27T23:18:52.828Z,1611789532.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 93.145646 deg, deltaT: 4.842217 s, approachRate: -0.322166 m/s, LOS rate: 11.314959 deg/s, posRepo size: 4
2021-01-27T23:18:52.830Z,1611789532.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.620010 m,
      bearing: 93.145646 deg,
      approachRate: -0.322166 m/s,
      LOS rate: 11.314959 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 6.838121 deg,
      new cmd heading: 8.022004 deg.

2021-01-27T23:18:55.257Z,1611789535.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:18:56.018Z,1611789536.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:18:56.435Z,1611789536.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:18:57.269Z,1611789537.269 [Micromodem](INFO): Nmea in: $SNTTA,0.120321,,,,231857.77*49

2021-01-27T23:18:57.653Z,1611789537.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.360001 m, bearing: 45.087516 deg, deltaT: 4.859785 s, approachRate: -0.259273 m/s, LOS rate: -9.888942 deg/s, posRepo size: 4
2021-01-27T23:18:57.655Z,1611789537.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.360001 m,
      bearing: 45.087516 deg,
      approachRate: -0.259273 m/s,
      LOS rate: -9.888942 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 65.151258 deg,
      new cmd heading: 69.464526 deg.

2021-01-27T23:19:00.061Z,1611789540.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:00.842Z,1611789540.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:01.273Z,1611789541.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:02.089Z,1611789542.089 [Micromodem](INFO): Nmea in: $SNTTA,0.119604,,,,231902.60*46

2021-01-27T23:19:02.104Z,1611789542.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.360001 m, bearing: 32.129770 deg, deltaT: 4.411557 s, approachRate: 0.000000 m/s, LOS rate: -2.937227 deg/s, posRepo size: 4
2021-01-27T23:19:02.106Z,1611789542.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.360001 m,
      bearing: 32.129770 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.937227 deg/s,
      cmd update: -11.748910 deg/s,
      cmd heading: 12.209237 deg,
      new cmd heading: 7.425629 deg.

2021-01-27T23:19:04.534Z,1611789544.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:05.290Z,1611789545.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:05.692Z,1611789545.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:06.528Z,1611789546.528 [Micromodem](INFO): Nmea in: $SNTTA,0.118497,,,,231907.05*49

2021-01-27T23:19:06.939Z,1611789546.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 82.834239 deg, deltaT: 4.903339 s, approachRate: -0.526172 m/s, LOS rate: 10.340804 deg/s, posRepo size: 4
2021-01-27T23:19:06.941Z,1611789546.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.779999 m,
      bearing: 82.834239 deg,
      approachRate: -0.526172 m/s,
      LOS rate: 10.340804 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 314.624188 deg,
      new cmd heading: 310.722505 deg.

2021-01-27T23:19:07.733Z,1611789547.733 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 94
2021-01-27T23:19:09.399Z,1611789549.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:10.139Z,1611789550.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:10.540Z,1611789550.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:11.433Z,1611789551.433 [Micromodem](INFO): Nmea in: $SNTTA,0.117284,,,,231911.89*41

2021-01-27T23:19:11.438Z,1611789551.438 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:19:11.482Z,1611789551.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 48.757947 deg, deltaT: 4.370730 s, approachRate: 0.000000 m/s, LOS rate: -7.796476 deg/s, posRepo size: 4
2021-01-27T23:19:11.488Z,1611789551.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.779999 m,
      bearing: 48.757947 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.796476 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 7.055467 deg,
      new cmd heading: 13.115731 deg.

2021-01-27T23:19:13.914Z,1611789553.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:14.582Z,1611789554.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:14.991Z,1611789554.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:15.829Z,1611789555.829 [Micromodem](INFO): Nmea in: $SNTTA,0.116963,,,,231916.34*43

2021-01-27T23:19:15.851Z,1611789555.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.619995 m, bearing: 333.766537 deg, deltaT: 4.499474 s, approachRate: -0.480057 m/s, LOS rate: -16.666703 deg/s, posRepo size: 4
2021-01-27T23:19:15.852Z,1611789555.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.666703 deg/s. Setting heading cmd to target bearing of 333.766537deg and heading rate command to 0 deg/s.
2021-01-27T23:19:16.612Z,1611789556.612 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:19:18.304Z,1611789558.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:19.032Z,1611789559.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:19.442Z,1611789559.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:20.261Z,1611789560.261 [Micromodem](INFO): Nmea in: $SNTTA,0.117297,,,,231920.79*4E

2021-01-27T23:19:20.681Z,1611789560.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 19.991368 deg, deltaT: 4.894758 s, approachRate: 0.073551 m/s, LOS rate: 9.443741 deg/s, posRepo size: 4
2021-01-27T23:19:20.682Z,1611789560.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.980011 m,
      bearing: 19.991368 deg,
      approachRate: 0.073551 m/s,
      LOS rate: 9.443741 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 333.766537 deg,
      new cmd heading: 333.766537 deg.

2021-01-27T23:19:21.474Z,1611789561.474 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:19:23.086Z,1611789563.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:23.886Z,1611789563.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:24.276Z,1611789564.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:25.099Z,1611789565.099 [Micromodem](INFO): Nmea in: $SNTTA,0.118391,,,,231925.64*4F

2021-01-27T23:19:25.534Z,1611789565.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 352.234577 deg, deltaT: 4.740952 s, approachRate: 0.367013 m/s, LOS rate: -5.854686 deg/s, posRepo size: 4
2021-01-27T23:19:25.536Z,1611789565.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.720001 m,
      bearing: 352.234577 deg,
      approachRate: 0.367013 m/s,
      LOS rate: -5.854686 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 31.104087 deg,
      new cmd heading: 36.136143 deg.

2021-01-27T23:19:27.933Z,1611789567.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:28.730Z,1611789568.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:29.124Z,1611789569.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:29.958Z,1611789569.958 [Micromodem](INFO): Nmea in: $SNTTA,0.119859,,,,231930.48*4B

2021-01-27T23:19:30.390Z,1611789570.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 31.560638 deg, deltaT: 4.865129 s, approachRate: 0.443977 m/s, LOS rate: 8.083251 deg/s, posRepo size: 4
2021-01-27T23:19:30.391Z,1611789570.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.880005 m,
      bearing: 31.560638 deg,
      approachRate: 0.443977 m/s,
      LOS rate: 8.083251 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.746129 deg,
      new cmd heading: 327.804385 deg.

2021-01-27T23:19:31.556Z,1611789571.556 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:19:32.773Z,1611789572.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:33.566Z,1611789573.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:33.990Z,1611789573.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:34.805Z,1611789574.805 [Micromodem](INFO): Nmea in: $SNTTA,0.120739,,,,231935.32*40

2021-01-27T23:19:34.838Z,1611789574.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 52.467573 deg, deltaT: 4.467238 s, approachRate: 0.295483 m/s, LOS rate: 4.680059 deg/s, posRepo size: 4
2021-01-27T23:19:34.840Z,1611789574.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.199997 m,
      bearing: 52.467573 deg,
      approachRate: 0.295483 m/s,
      LOS rate: 4.680059 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 26.377731 deg,
      new cmd heading: 31.073355 deg.

2021-01-27T23:19:36.466Z,1611789576.466 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T23:19:37.253Z,1611789577.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:38.019Z,1611789578.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:38.439Z,1611789578.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:39.256Z,1611789579.256 [Micromodem](INFO): Nmea in: $SNTTA,0.121417,,,,231939.77*43

2021-01-27T23:19:39.663Z,1611789579.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.219986 m, bearing: 320.668857 deg, deltaT: 4.854963 s, approachRate: 0.210092 m/s, LOS rate: -18.908221 deg/s, posRepo size: 4
2021-01-27T23:19:39.663Z,1611789579.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.908221 deg/s. Setting heading cmd to target bearing of 320.668857deg and heading rate command to 0 deg/s.
2021-01-27T23:19:42.080Z,1611789582.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:42.859Z,1611789582.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:43.272Z,1611789583.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:44.109Z,1611789584.109 [Micromodem](INFO): Nmea in: $SNTTA,0.121654,,,,231944.61*4B

2021-01-27T23:19:44.131Z,1611789584.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.219986 m, bearing: 35.318990 deg, deltaT: 4.418699 s, approachRate: 0.000000 m/s, LOS rate: 16.894143 deg/s, posRepo size: 4
2021-01-27T23:19:44.132Z,1611789584.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.894143 deg/s. Setting heading cmd to target bearing of 35.318990deg and heading rate command to 0 deg/s.
2021-01-27T23:19:46.554Z,1611789586.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:47.306Z,1611789587.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:47.712Z,1611789587.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:48.544Z,1611789588.544 [Micromodem](INFO): Nmea in: $SNTTA,0.121190,,,,231949.06*48

2021-01-27T23:19:48.951Z,1611789588.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 66.724405 deg, deltaT: 4.875348 s, approachRate: -0.073838 m/s, LOS rate: 6.441676 deg/s, posRepo size: 4
2021-01-27T23:19:48.955Z,1611789588.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.860001 m,
      bearing: 66.724405 deg,
      approachRate: -0.073838 m/s,
      LOS rate: 6.441676 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 35.318990 deg,
      new cmd heading: 35.318990 deg.

2021-01-27T23:19:51.399Z,1611789591.399 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:19:51.465Z,1611789591.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:52.170Z,1611789592.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:52.560Z,1611789592.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:53.411Z,1611789593.411 [Micromodem](INFO): Nmea in: $SNTTA,0.120610,,0.132611,,231953.92*58

2021-01-27T23:19:53.923Z,1611789593.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.960007 m, bearing: 59.465662 deg, deltaT: 4.878156 s, approachRate: -0.184495 m/s, LOS rate: -1.488010 deg/s, posRepo size: 4
2021-01-27T23:19:53.941Z,1611789593.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.960007 m,
      bearing: 59.465662 deg,
      approachRate: -0.184495 m/s,
      LOS rate: -1.488010 deg/s,
      cmd update: -5.952038 deg/s,
      cmd heading: 93.616792 deg,
      new cmd heading: 99.245920 deg.

2021-01-27T23:19:56.247Z,1611789596.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:19:57.010Z,1611789597.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:19:57.440Z,1611789597.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:19:58.264Z,1611789598.264 [Micromodem](INFO): Nmea in: $SNTTA,0.119690,,,,231958.77*42

2021-01-27T23:19:58.665Z,1611789598.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.400009 m, bearing: 107.127897 deg, deltaT: 4.813273 s, approachRate: -0.324103 m/s, LOS rate: 9.902250 deg/s, posRepo size: 4
2021-01-27T23:19:58.667Z,1611789598.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.400009 m,
      bearing: 107.127897 deg,
      approachRate: -0.324103 m/s,
      LOS rate: 9.902250 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 64.848818 deg,
      new cmd heading: 62.599876 deg.

2021-01-27T23:20:01.078Z,1611789601.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:01.458Z,1611789601.458 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-01-27T23:20:01.854Z,1611789601.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:02.268Z,1611789602.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:03.101Z,1611789603.101 [Micromodem](INFO): Nmea in: $SNTTA,0.118197,,,,232003.61*40

2021-01-27T23:20:03.123Z,1611789603.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.400009 m, bearing: 95.586790 deg, deltaT: 4.438781 s, approachRate: 0.000000 m/s, LOS rate: -2.600062 deg/s, posRepo size: 4
2021-01-27T23:20:03.125Z,1611789603.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.400009 m,
      bearing: 95.586790 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.600062 deg/s,
      cmd update: -10.400250 deg/s,
      cmd heading: 118.063623 deg,
      new cmd heading: 122.875923 deg.

2021-01-27T23:20:05.549Z,1611789605.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:06.294Z,1611789606.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:06.696Z,1611789606.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:06.727Z,1611789606.727 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T23:20:07.545Z,1611789607.545 [Micromodem](INFO): Nmea in: $SNTTA,0.116724,,,,232008.05*49

2021-01-27T23:20:07.590Z,1611789607.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.400009 m, bearing: 107.755824 deg, deltaT: 4.389000 s, approachRate: 0.000000 m/s, LOS rate: 2.772621 deg/s, posRepo size: 4
2021-01-27T23:20:07.593Z,1611789607.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.400009 m,
      bearing: 107.755824 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.772621 deg/s,
      cmd update: 11.090485 deg/s,
      cmd heading: 72.388066 deg,
      new cmd heading: 67.430496 deg.

2021-01-27T23:20:09.948Z,1611789609.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:10.734Z,1611789610.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:11.145Z,1611789611.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:11.982Z,1611789611.982 [Micromodem](INFO): Nmea in: $SNTTA,0.114909,,,,232012.49*49

2021-01-27T23:20:12.007Z,1611789612.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.139999 m, bearing: 95.991513 deg, deltaT: 4.500805 s, approachRate: -1.613047 m/s, LOS rate: -2.613824 deg/s, posRepo size: 4
2021-01-27T23:20:12.036Z,1611789612.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.139999 m,
      bearing: 95.991513 deg,
      approachRate: -1.613047 m/s,
      LOS rate: -2.613824 deg/s,
      cmd update: -10.455295 deg/s,
      cmd heading: 122.275351 deg,
      new cmd heading: 126.654717 deg.

2021-01-27T23:20:14.466Z,1611789614.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:15.204Z,1611789615.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:15.592Z,1611789615.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:16.464Z,1611789616.464 [Micromodem](INFO): Nmea in: $SNTTA,0.113077,,,,232016.96*48

2021-01-27T23:20:16.835Z,1611789616.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 96.550967 deg, deltaT: 4.872319 s, approachRate: -0.566461 m/s, LOS rate: 0.114823 deg/s, posRepo size: 4
2021-01-27T23:20:16.837Z,1611789616.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.380020 m,
      bearing: 96.550967 deg,
      approachRate: -0.566461 m/s,
      LOS rate: 0.114823 deg/s,
      cmd update: 0.459292 deg/s,
      cmd heading: 71.291861 deg,
      new cmd heading: 67.664480 deg.

2021-01-27T23:20:19.283Z,1611789619.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:20.034Z,1611789620.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:20.440Z,1611789620.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:21.277Z,1611789621.277 [Micromodem](INFO): Nmea in: $SNTTA,0.110913,,,,232021.79*45

2021-01-27T23:20:21.301Z,1611789621.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 96.624357 deg, deltaT: 4.377567 s, approachRate: -0.726433 m/s, LOS rate: 0.016765 deg/s, posRepo size: 4
2021-01-27T23:20:21.303Z,1611789621.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.200012 m,
      bearing: 96.624357 deg,
      approachRate: -0.726433 m/s,
      LOS rate: 0.016765 deg/s,
      cmd update: 0.067060 deg/s,
      cmd heading: 73.301550 deg,
      new cmd heading: 73.502133 deg.

2021-01-27T23:20:23.691Z,1611789623.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:24.482Z,1611789624.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:24.868Z,1611789624.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:25.721Z,1611789625.721 [Micromodem](INFO): Nmea in: $SNTTA,0.108968,,,,232026.23*48

2021-01-27T23:20:25.746Z,1611789625.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 95.709733 deg, deltaT: 4.464951 s, approachRate: 0.000000 m/s, LOS rate: -0.204845 deg/s, posRepo size: 4
2021-01-27T23:20:25.748Z,1611789625.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.200012 m,
      bearing: 95.709733 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.204845 deg/s,
      cmd update: -0.819381 deg/s,
      cmd heading: 73.601102 deg,
      new cmd heading: 73.628926 deg.

2021-01-27T23:20:28.122Z,1611789628.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:28.911Z,1611789628.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:29.329Z,1611789629.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:30.166Z,1611789630.166 [Micromodem](INFO): Nmea in: $SNTTA,0.107193,,,,232030.66*4D

2021-01-27T23:20:30.236Z,1611789630.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 97.201542 deg, deltaT: 4.451053 s, approachRate: -1.253636 m/s, LOS rate: 0.335159 deg/s, posRepo size: 4
2021-01-27T23:20:30.238Z,1611789630.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.620010 m,
      bearing: 97.201542 deg,
      approachRate: -1.253636 m/s,
      LOS rate: 0.335159 deg/s,
      cmd update: 1.340635 deg/s,
      cmd heading: 69.957264 deg,
      new cmd heading: 69.582267 deg.

2021-01-27T23:20:32.608Z,1611789632.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:33.381Z,1611789633.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:33.836Z,1611789633.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:34.669Z,1611789634.669 [Micromodem](INFO): Nmea in: $SNTTA,0.105580,,,,232035.13*4E

2021-01-27T23:20:34.694Z,1611789634.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.220016 m, bearing: 99.340566 deg, deltaT: 4.488317 s, approachRate: -0.534720 m/s, LOS rate: 0.476576 deg/s, posRepo size: 4
2021-01-27T23:20:34.695Z,1611789634.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.220016 m,
      bearing: 99.340566 deg,
      approachRate: -0.534720 m/s,
      LOS rate: 0.476576 deg/s,
      cmd update: 1.906304 deg/s,
      cmd heading: 75.979849 deg,
      new cmd heading: 76.547331 deg.

2021-01-27T23:20:37.093Z,1611789637.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:37.874Z,1611789637.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:38.284Z,1611789638.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:39.125Z,1611789639.125 [Micromodem](INFO): Nmea in: $SNTTA,0.103960,,,,232039.63*41

2021-01-27T23:20:39.151Z,1611789639.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.700012 m, bearing: 100.331121 deg, deltaT: 4.478891 s, approachRate: -0.562640 m/s, LOS rate: 0.221161 deg/s, posRepo size: 4
2021-01-27T23:20:39.154Z,1611789639.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.700012 m,
      bearing: 100.331121 deg,
      approachRate: -0.562640 m/s,
      LOS rate: 0.221161 deg/s,
      cmd update: 0.884643 deg/s,
      cmd heading: 84.502293 deg,
      new cmd heading: 85.284639 deg.

2021-01-27T23:20:41.549Z,1611789641.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:42.322Z,1611789642.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:42.728Z,1611789642.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:43.573Z,1611789643.573 [Micromodem](INFO): Nmea in: $SNTTA,0.102106,,,,232044.08*4F

2021-01-27T23:20:43.608Z,1611789643.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.939987 m, bearing: 101.727895 deg, deltaT: 4.459930 s, approachRate: -0.618849 m/s, LOS rate: 0.313183 deg/s, posRepo size: 4
2021-01-27T23:20:43.610Z,1611789643.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.939987 m,
      bearing: 101.727895 deg,
      approachRate: -0.618849 m/s,
      LOS rate: 0.313183 deg/s,
      cmd update: 1.252732 deg/s,
      cmd heading: 88.454097 deg,
      new cmd heading: 88.807957 deg.

2021-01-27T23:20:46.003Z,1611789646.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:46.762Z,1611789646.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:47.203Z,1611789647.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:48.005Z,1611789648.005 [Micromodem](INFO): Nmea in: $SNTTA,0.100147,,,,232048.51*48

2021-01-27T23:20:48.043Z,1611789648.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 103.083667 deg, deltaT: 4.420913 s, approachRate: -0.665018 m/s, LOS rate: 0.306672 deg/s, posRepo size: 4
2021-01-27T23:20:48.045Z,1611789648.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.000000 m,
      bearing: 103.083667 deg,
      approachRate: -0.665018 m/s,
      LOS rate: 0.306672 deg/s,
      cmd update: 1.226690 deg/s,
      cmd heading: 93.981778 deg,
      new cmd heading: 94.510507 deg.

2021-01-27T23:20:50.486Z,1611789650.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:51.234Z,1611789651.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:51.616Z,1611789651.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:52.453Z,1611789652.453 [Micromodem](INFO): Nmea in: $SNTTA,0.098287,,,,232052.99*48

2021-01-27T23:20:52.500Z,1611789652.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.240005 m, bearing: 100.244357 deg, deltaT: 4.413393 s, approachRate: -0.625368 m/s, LOS rate: -0.643339 deg/s, posRepo size: 4
2021-01-27T23:20:52.502Z,1611789652.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.240005 m,
      bearing: 100.244357 deg,
      approachRate: -0.625368 m/s,
      LOS rate: -0.643339 deg/s,
      cmd update: -2.573358 deg/s,
      cmd heading: 99.405850 deg,
      new cmd heading: 99.966887 deg.

2021-01-27T23:20:54.858Z,1611789654.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:20:55.654Z,1611789655.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:20:56.049Z,1611789656.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:20:56.897Z,1611789656.897 [Micromodem](INFO): Nmea in: $SNTTA,0.096373,,,,232057.41*4C

2021-01-27T23:20:56.951Z,1611789656.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.300003 m, bearing: 100.646273 deg, deltaT: 4.503670 s, approachRate: -0.652801 m/s, LOS rate: 0.089242 deg/s, posRepo size: 4
2021-01-27T23:20:56.953Z,1611789656.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.300003 m,
      bearing: 100.646273 deg,
      approachRate: -0.652801 m/s,
      LOS rate: 0.089242 deg/s,
      cmd update: 0.356967 deg/s,
      cmd heading: 87.813510 deg,
      new cmd heading: 86.774041 deg.

2021-01-27T23:20:59.382Z,1611789659.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:00.111Z,1611789660.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:00.505Z,1611789660.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:01.333Z,1611789661.333 [Micromodem](INFO): Nmea in: $SNTTA,0.094405,,,,232101.86*41

2021-01-27T23:21:01.398Z,1611789661.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 100.133456 deg, deltaT: 4.380495 s, approachRate: -0.643765 m/s, LOS rate: -0.117068 deg/s, posRepo size: 4
2021-01-27T23:21:01.411Z,1611789661.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.479996 m,
      bearing: 100.133456 deg,
      approachRate: -0.643765 m/s,
      LOS rate: -0.117068 deg/s,
      cmd update: -0.468274 deg/s,
      cmd heading: 89.377203 deg,
      new cmd heading: 89.545181 deg.

2021-01-27T23:21:03.775Z,1611789663.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:04.544Z,1611789664.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:04.948Z,1611789664.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:05.805Z,1611789665.805 [Micromodem](INFO): Nmea in: $SNTTA,0.092423,,,,232106.30*49

2021-01-27T23:21:05.827Z,1611789665.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.419998 m, bearing: 101.756664 deg, deltaT: 4.509336 s, approachRate: -0.678592 m/s, LOS rate: 0.359966 deg/s, posRepo size: 4
2021-01-27T23:21:05.829Z,1611789665.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.419998 m,
      bearing: 101.756664 deg,
      approachRate: -0.678592 m/s,
      LOS rate: 0.359966 deg/s,
      cmd update: 1.439864 deg/s,
      cmd heading: 87.273161 deg,
      new cmd heading: 87.082851 deg.

2021-01-27T23:21:08.230Z,1611789668.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:08.992Z,1611789668.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:09.413Z,1611789669.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:10.249Z,1611789670.249 [Micromodem](INFO): Nmea in: $SNTTA,0.090467,,,,232110.75*4D

2021-01-27T23:21:10.303Z,1611789670.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.660004 m, bearing: 102.183824 deg, deltaT: 4.404349 s, approachRate: -0.626652 m/s, LOS rate: 0.096986 deg/s, posRepo size: 4
2021-01-27T23:21:10.305Z,1611789670.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.660004 m,
      bearing: 102.183824 deg,
      approachRate: -0.626652 m/s,
      LOS rate: 0.096986 deg/s,
      cmd update: 0.387944 deg/s,
      cmd heading: 93.625944 deg,
      new cmd heading: 94.303130 deg.

2021-01-27T23:21:12.659Z,1611789672.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:13.430Z,1611789673.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:13.848Z,1611789673.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:14.677Z,1611789674.677 [Micromodem](INFO): Nmea in: $SNTTA,0.088558,,,,232115.18*47

2021-01-27T23:21:14.702Z,1611789674.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.779999 m, bearing: 101.702022 deg, deltaT: 4.441313 s, approachRate: -0.648458 m/s, LOS rate: -0.108482 deg/s, posRepo size: 4
2021-01-27T23:21:14.704Z,1611789674.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.779999 m,
      bearing: 101.702022 deg,
      approachRate: -0.648458 m/s,
      LOS rate: -0.108482 deg/s,
      cmd update: -0.433927 deg/s,
      cmd heading: 95.352126 deg,
      new cmd heading: 95.514946 deg.

2021-01-27T23:21:17.109Z,1611789677.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:17.875Z,1611789677.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:18.280Z,1611789678.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:19.130Z,1611789679.130 [Micromodem](INFO): Nmea in: $SNTTA,0.086649,,,,232119.63*4A

2021-01-27T23:21:19.156Z,1611789679.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 101.893650 deg, deltaT: 4.443333 s, approachRate: -0.675169 m/s, LOS rate: 0.043127 deg/s, posRepo size: 4
2021-01-27T23:21:19.162Z,1611789679.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.779999 m,
      bearing: 101.893650 deg,
      approachRate: -0.675169 m/s,
      LOS rate: 0.043127 deg/s,
      cmd update: 0.172508 deg/s,
      cmd heading: 93.423958 deg,
      new cmd heading: 93.237817 deg.

2021-01-27T23:21:21.555Z,1611789681.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:22.324Z,1611789682.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:22.731Z,1611789682.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:23.561Z,1611789683.561 [Micromodem](INFO): Nmea in: $SNTTA,0.084684,,,,232124.08*4A

2021-01-27T23:21:23.596Z,1611789683.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.839996 m, bearing: 104.029095 deg, deltaT: 4.479854 s, approachRate: -0.656272 m/s, LOS rate: 0.476677 deg/s, posRepo size: 4
2021-01-27T23:21:23.598Z,1611789683.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.839996 m,
      bearing: 104.029095 deg,
      approachRate: -0.656272 m/s,
      LOS rate: 0.476677 deg/s,
      cmd update: 1.906709 deg/s,
      cmd heading: 94.196078 deg,
      new cmd heading: 94.264051 deg.

2021-01-27T23:21:25.986Z,1611789685.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:26.758Z,1611789686.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:27.197Z,1611789687.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:28.011Z,1611789688.011 [Micromodem](INFO): Nmea in: $SNTTA,0.082923,0.263948,,,232128.51*52

2021-01-27T23:21:28.031Z,1611789688.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.900009 m, bearing: 103.624720 deg, deltaT: 4.420707 s, approachRate: -0.665049 m/s, LOS rate: -0.091473 deg/s, posRepo size: 4
2021-01-27T23:21:28.033Z,1611789688.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.900009 m,
      bearing: 103.624720 deg,
      approachRate: -0.665049 m/s,
      LOS rate: -0.091473 deg/s,
      cmd update: -0.365891 deg/s,
      cmd heading: 102.632705 deg,
      new cmd heading: 103.404649 deg.

2021-01-27T23:21:30.467Z,1611789690.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:31.234Z,1611789691.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:31.616Z,1611789691.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:32.453Z,1611789692.453 [Micromodem](INFO): Nmea in: $SNTTA,0.080750,,,,232132.99*49

2021-01-27T23:21:32.487Z,1611789692.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.960007 m, bearing: 103.983770 deg, deltaT: 4.418079 s, approachRate: -0.665448 m/s, LOS rate: 0.081268 deg/s, posRepo size: 4
2021-01-27T23:21:32.509Z,1611789692.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.960007 m,
      bearing: 103.983770 deg,
      approachRate: -0.665448 m/s,
      LOS rate: 0.081268 deg/s,
      cmd update: 0.325073 deg/s,
      cmd heading: 101.016236 deg,
      new cmd heading: 100.854360 deg.

2021-01-27T23:21:34.867Z,1611789694.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:35.650Z,1611789695.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:36.070Z,1611789696.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:36.905Z,1611789696.905 [Micromodem](INFO): Nmea in: $SNTTA,0.078850,,,,232137.40*40

2021-01-27T23:21:36.927Z,1611789696.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.020004 m, bearing: 104.219801 deg, deltaT: 4.484157 s, approachRate: -0.655642 m/s, LOS rate: 0.052637 deg/s, posRepo size: 4
2021-01-27T23:21:36.945Z,1611789696.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.020004 m,
      bearing: 104.219801 deg,
      approachRate: -0.655642 m/s,
      LOS rate: 0.052637 deg/s,
      cmd update: 0.210546 deg/s,
      cmd heading: 102.468769 deg,
      new cmd heading: 102.603508 deg.

2021-01-27T23:21:39.324Z,1611789699.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:40.094Z,1611789700.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:40.496Z,1611789700.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:41.345Z,1611789701.345 [Micromodem](INFO): Nmea in: $SNTTA,0.076907,,,,232141.85*45

2021-01-27T23:21:41.430Z,1611789701.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.139999 m, bearing: 104.131234 deg, deltaT: 4.396789 s, approachRate: -0.655025 m/s, LOS rate: -0.020144 deg/s, posRepo size: 4
2021-01-27T23:21:41.433Z,1611789701.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.139999 m,
      bearing: 104.131234 deg,
      approachRate: -0.655025 m/s,
      LOS rate: -0.020144 deg/s,
      cmd update: -0.080574 deg/s,
      cmd heading: 103.397846 deg,
      new cmd heading: 103.503803 deg.

2021-01-27T23:21:43.747Z,1611789703.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:44.543Z,1611789704.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:44.951Z,1611789704.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:45.781Z,1611789705.781 [Micromodem](INFO): Nmea in: $SNTTA,0.074894,,,,232146.30*45

2021-01-27T23:21:45.796Z,1611789705.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.080002 m, bearing: 104.088067 deg, deltaT: 4.500289 s, approachRate: -0.679956 m/s, LOS rate: -0.009592 deg/s, posRepo size: 4
2021-01-27T23:21:45.798Z,1611789705.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.080002 m,
      bearing: 104.088067 deg,
      approachRate: -0.679956 m/s,
      LOS rate: -0.009592 deg/s,
      cmd update: -0.038368 deg/s,
      cmd heading: 103.035230 deg,
      new cmd heading: 103.005376 deg.

2021-01-27T23:21:48.221Z,1611789708.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:48.988Z,1611789708.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:49.412Z,1611789709.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:50.241Z,1611789710.241 [Micromodem](INFO): Nmea in: $SNTTA,0.073064,,,,232150.74*42

2021-01-27T23:21:50.271Z,1611789710.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.320000 m, bearing: 103.987082 deg, deltaT: 4.402333 s, approachRate: -0.626941 m/s, LOS rate: -0.022939 deg/s, posRepo size: 4
2021-01-27T23:21:50.301Z,1611789710.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.320000 m,
      bearing: 103.987082 deg,
      approachRate: -0.626941 m/s,
      LOS rate: -0.022939 deg/s,
      cmd update: -0.091755 deg/s,
      cmd heading: 102.867227 deg,
      new cmd heading: 102.849316 deg.

2021-01-27T23:21:52.652Z,1611789712.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:53.430Z,1611789713.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:53.838Z,1611789713.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:54.669Z,1611789714.669 [Micromodem](INFO): Nmea in: $SNTTA,0.070867,,,,232155.18*45

2021-01-27T23:21:54.694Z,1611789714.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.080002 m, bearing: 104.418436 deg, deltaT: 4.449251 s, approachRate: -0.728212 m/s, LOS rate: 0.096950 deg/s, posRepo size: 4
2021-01-27T23:21:54.696Z,1611789714.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.080002 m,
      bearing: 104.418436 deg,
      approachRate: -0.728212 m/s,
      LOS rate: 0.096950 deg/s,
      cmd update: 0.387799 deg/s,
      cmd heading: 102.456817 deg,
      new cmd heading: 102.418583 deg.

2021-01-27T23:21:57.085Z,1611789717.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:21:57.874Z,1611789717.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:21:58.276Z,1611789718.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:21:59.113Z,1611789719.113 [Micromodem](INFO): Nmea in: $SNTTA,0.068904,,0.194735,,232159.63*5B

2021-01-27T23:21:59.145Z,1611789719.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.200005 m, bearing: 104.051314 deg, deltaT: 4.449855 s, approachRate: -0.647211 m/s, LOS rate: -0.082502 deg/s, posRepo size: 4
2021-01-27T23:21:59.149Z,1611789719.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.200005 m,
      bearing: 104.051314 deg,
      approachRate: -0.647211 m/s,
      LOS rate: -0.082502 deg/s,
      cmd update: -0.330009 deg/s,
      cmd heading: 104.180908 deg,
      new cmd heading: 104.343584 deg.

2021-01-27T23:22:01.592Z,1611789721.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:02.310Z,1611789722.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:02.720Z,1611789722.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:03.561Z,1611789723.561 [Micromodem](INFO): Nmea in: $SNTTA,0.067085,,,,232204.06*4F

2021-01-27T23:22:03.604Z,1611789723.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 104.507857 deg, deltaT: 4.405152 s, approachRate: -0.640159 m/s, LOS rate: 0.103639 deg/s, posRepo size: 4
2021-01-27T23:22:03.607Z,1611789723.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.380005 m,
      bearing: 104.507857 deg,
      approachRate: -0.640159 m/s,
      LOS rate: 0.103639 deg/s,
      cmd update: 0.414554 deg/s,
      cmd heading: 102.725851 deg,
      new cmd heading: 102.570646 deg.

2021-01-27T23:22:05.990Z,1611789725.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:06.754Z,1611789726.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:07.185Z,1611789727.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:08.006Z,1611789728.006 [Micromodem](INFO): Nmea in: $SNTTA,0.064957,,,,232208.51*44

2021-01-27T23:22:08.023Z,1611789728.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 104.373999 deg, deltaT: 4.486993 s, approachRate: -0.695344 m/s, LOS rate: -0.029832 deg/s, posRepo size: 4
2021-01-27T23:22:08.025Z,1611789728.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.260002 m,
      bearing: 104.373999 deg,
      approachRate: -0.695344 m/s,
      LOS rate: -0.029832 deg/s,
      cmd update: -0.119330 deg/s,
      cmd heading: 104.584258 deg,
      new cmd heading: 104.753198 deg.

2021-01-27T23:22:10.459Z,1611789730.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:11.222Z,1611789731.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:11.620Z,1611789731.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:12.453Z,1611789732.453 [Micromodem](INFO): Nmea in: $SNTTA,0.062950,,,,232212.97*44

2021-01-27T23:22:12.497Z,1611789732.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.260002 m, bearing: 104.311359 deg, deltaT: 4.438027 s, approachRate: -0.675976 m/s, LOS rate: -0.014114 deg/s, posRepo size: 4
2021-01-27T23:22:12.499Z,1611789732.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.260002 m,
      bearing: 104.311359 deg,
      approachRate: -0.675976 m/s,
      LOS rate: -0.014114 deg/s,
      cmd update: -0.056457 deg/s,
      cmd heading: 104.056556 deg,
      new cmd heading: 104.001657 deg.

2021-01-27T23:22:14.862Z,1611789734.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:15.647Z,1611789735.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:16.064Z,1611789736.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:16.897Z,1611789736.897 [Micromodem](INFO): Nmea in: $SNTTA,0.060989,,,,232217.40*4D

2021-01-27T23:22:16.919Z,1611789736.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.620003 m, bearing: 108.109539 deg, deltaT: 4.485419 s, approachRate: -0.588574 m/s, LOS rate: 0.846784 deg/s, posRepo size: 4
2021-01-27T23:22:16.921Z,1611789736.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.620003 m,
      bearing: 108.109539 deg,
      approachRate: -0.588574 m/s,
      LOS rate: 0.846784 deg/s,
      cmd update: 3.387135 deg/s,
      cmd heading: 103.802196 deg,
      new cmd heading: 103.780942 deg.

2021-01-27T23:22:19.394Z,1611789739.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:20.122Z,1611789740.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:20.537Z,1611789740.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:21.377Z,1611789741.377 [Micromodem](INFO): Nmea in: $SNTTA,0.058949,,,,232221.88*4B

2021-01-27T23:22:21.429Z,1611789741.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.200005 m, bearing: 106.753453 deg, deltaT: 4.427695 s, approachRate: -0.772411 m/s, LOS rate: -0.306274 deg/s, posRepo size: 4
2021-01-27T23:22:21.431Z,1611789741.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.200005 m,
      bearing: 106.753453 deg,
      approachRate: -0.772411 m/s,
      LOS rate: -0.306274 deg/s,
      cmd update: -1.225095 deg/s,
      cmd heading: 118.712319 deg,
      new cmd heading: 120.353934 deg.

2021-01-27T23:22:23.807Z,1611789743.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:24.562Z,1611789744.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:24.982Z,1611789744.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:25.813Z,1611789745.813 [Micromodem](INFO): Nmea in: $SNTTA,0.057061,,,,232226.31*42

2021-01-27T23:22:25.835Z,1611789745.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.379997 m, bearing: 104.231938 deg, deltaT: 4.464647 s, approachRate: -0.631631 m/s, LOS rate: -0.564774 deg/s, posRepo size: 4
2021-01-27T23:22:25.837Z,1611789745.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.379997 m,
      bearing: 104.231938 deg,
      approachRate: -0.631631 m/s,
      LOS rate: -0.564774 deg/s,
      cmd update: -2.259094 deg/s,
      cmd heading: 113.211267 deg,
      new cmd heading: 112.720966 deg.

2021-01-27T23:22:28.277Z,1611789748.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:29.022Z,1611789749.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:29.434Z,1611789749.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:30.265Z,1611789750.265 [Micromodem](INFO): Nmea in: $SNTTA,0.054997,,,,232230.78*4B

2021-01-27T23:22:30.295Z,1611789750.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.320000 m, bearing: 105.034150 deg, deltaT: 4.397336 s, approachRate: -0.695875 m/s, LOS rate: 0.182431 deg/s, posRepo size: 4
2021-01-27T23:22:30.297Z,1611789750.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.320000 m,
      bearing: 105.034150 deg,
      approachRate: -0.695875 m/s,
      LOS rate: 0.182431 deg/s,
      cmd update: 0.729726 deg/s,
      cmd heading: 103.277191 deg,
      new cmd heading: 102.231637 deg.

2021-01-27T23:22:32.700Z,1611789752.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:33.454Z,1611789753.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:33.861Z,1611789753.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:34.705Z,1611789754.705 [Micromodem](INFO): Nmea in: $SNTTA,0.052906,,0.087000,,232235.21*5D

2021-01-27T23:22:34.754Z,1611789754.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.199997 m, bearing: 105.523602 deg, deltaT: 4.464893 s, approachRate: -0.698786 m/s, LOS rate: 0.109622 deg/s, posRepo size: 4
2021-01-27T23:22:34.755Z,1611789754.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.199997 m,
      bearing: 105.523602 deg,
      approachRate: -0.698786 m/s,
      LOS rate: 0.109622 deg/s,
      cmd update: 0.438489 deg/s,
      cmd heading: 106.535272 deg,
      new cmd heading: 106.868289 deg.

2021-01-27T23:22:37.106Z,1611789757.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:37.894Z,1611789757.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:38.322Z,1611789758.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:39.134Z,1611789759.134 [Micromodem](INFO): Nmea in: $SNTTA,0.050937,,,,232239.65*40

2021-01-27T23:22:39.212Z,1611789759.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.200005 m, bearing: 105.364534 deg, deltaT: 4.446099 s, approachRate: -0.674747 m/s, LOS rate: -0.035777 deg/s, posRepo size: 4
2021-01-27T23:22:39.214Z,1611789759.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.200005 m,
      bearing: 105.364534 deg,
      approachRate: -0.674747 m/s,
      LOS rate: -0.035777 deg/s,
      cmd update: -0.143108 deg/s,
      cmd heading: 108.483108 deg,
      new cmd heading: 108.682688 deg.

2021-01-27T23:22:41.621Z,1611789761.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:42.345Z,1611789762.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:42.748Z,1611789762.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:43.589Z,1611789763.589 [Micromodem](INFO): Nmea in: $SNTTA,0.049292,0.053306,,,232244.10*59

2021-01-27T23:22:43.626Z,1611789763.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.320007 m, bearing: 106.136611 deg, deltaT: 4.483295 s, approachRate: -0.642384 m/s, LOS rate: 0.172212 deg/s, posRepo size: 4
2021-01-27T23:22:43.628Z,1611789763.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.320007 m,
      bearing: 106.136611 deg,
      approachRate: -0.642384 m/s,
      LOS rate: 0.172212 deg/s,
      cmd update: 0.688848 deg/s,
      cmd heading: 107.840933 deg,
      new cmd heading: 107.783801 deg.

2021-01-27T23:22:46.025Z,1611789766.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:46.782Z,1611789766.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:47.208Z,1611789767.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:48.037Z,1611789768.037 [Micromodem](INFO): Nmea in: $SNTTA,0.046977,,,,232248.54*47

2021-01-27T23:22:48.059Z,1611789768.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.739998 m, bearing: 105.882125 deg, deltaT: 4.396371 s, approachRate: -0.586850 m/s, LOS rate: -0.057885 deg/s, posRepo size: 4
2021-01-27T23:22:48.077Z,1611789768.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.739998 m,
      bearing: 105.882125 deg,
      approachRate: -0.586850 m/s,
      LOS rate: -0.057885 deg/s,
      cmd update: -0.231542 deg/s,
      cmd heading: 110.869197 deg,
      new cmd heading: 111.169815 deg.

2021-01-27T23:22:50.467Z,1611789770.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:51.243Z,1611789771.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:51.644Z,1611789771.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:52.477Z,1611789772.477 [Micromodem](INFO): Nmea in: $SNTTA,0.045018,,,,232252.99*4E

2021-01-27T23:22:52.511Z,1611789772.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.380005 m, bearing: 105.315698 deg, deltaT: 4.458159 s, approachRate: -0.753673 m/s, LOS rate: -0.127054 deg/s, posRepo size: 4
2021-01-27T23:22:52.514Z,1611789772.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.380005 m,
      bearing: 105.315698 deg,
      approachRate: -0.753673 m/s,
      LOS rate: -0.127054 deg/s,
      cmd update: -0.508217 deg/s,
      cmd heading: 109.837819 deg,
      new cmd heading: 109.737283 deg.

2021-01-27T23:22:54.886Z,1611789774.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:22:55.682Z,1611789775.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:22:56.091Z,1611789776.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:22:56.917Z,1611789776.917 [Micromodem](INFO): Nmea in: $SNTTA,0.043015,,,,232257.43*47

2021-01-27T23:22:56.951Z,1611789776.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.380005 m, bearing: 105.371104 deg, deltaT: 4.503669 s, approachRate: -0.666124 m/s, LOS rate: 0.012303 deg/s, posRepo size: 4
2021-01-27T23:22:56.953Z,1611789776.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.380005 m,
      bearing: 105.371104 deg,
      approachRate: -0.666124 m/s,
      LOS rate: 0.012303 deg/s,
      cmd update: 0.049210 deg/s,
      cmd heading: 107.551090 deg,
      new cmd heading: 107.361014 deg.

2021-01-27T23:22:59.358Z,1611789779.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:00.118Z,1611789780.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:00.524Z,1611789780.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:01.378Z,1611789781.378 [Micromodem](INFO): Nmea in: $SNTTA,0.041033,,,0.043552,232301.87*50

2021-01-27T23:23:01.412Z,1611789781.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 105.382026 deg, deltaT: 4.360013 s, approachRate: -0.688071 m/s, LOS rate: 0.002505 deg/s, posRepo size: 4
2021-01-27T23:23:01.414Z,1611789781.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.380005 m,
      bearing: 105.382026 deg,
      approachRate: -0.688071 m/s,
      LOS rate: 0.002505 deg/s,
      cmd update: 0.010020 deg/s,
      cmd heading: 107.766040 deg,
      new cmd heading: 107.789009 deg.

2021-01-27T23:23:03.771Z,1611789783.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:04.562Z,1611789784.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:04.984Z,1611789784.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:05.817Z,1611789785.817 [Micromodem](INFO): Nmea in: $SNTTA,0.039018,,,,232306.31*47

2021-01-27T23:23:05.839Z,1611789785.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.860004 m, bearing: 105.617558 deg, deltaT: 4.482436 s, approachRate: -0.562194 m/s, LOS rate: 0.052546 deg/s, posRepo size: 4
2021-01-27T23:23:05.841Z,1611789785.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.860004 m,
      bearing: 105.617558 deg,
      approachRate: -0.562194 m/s,
      LOS rate: 0.052546 deg/s,
      cmd update: 0.210182 deg/s,
      cmd heading: 107.810954 deg,
      new cmd heading: 107.815075 deg.

2021-01-27T23:23:08.247Z,1611789788.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:09.010Z,1611789789.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:09.428Z,1611789789.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:10.279Z,1611789790.279 [Micromodem](INFO): Nmea in: $SNTTA,0.036944,,0.223882,,232310.76*53

2021-01-27T23:23:10.328Z,1611789790.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.199997 m, bearing: 105.731588 deg, deltaT: 4.421670 s, approachRate: -0.827743 m/s, LOS rate: 0.025789 deg/s, posRepo size: 4
2021-01-27T23:23:10.330Z,1611789790.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.199997 m,
      bearing: 105.731588 deg,
      approachRate: -0.827743 m/s,
      LOS rate: 0.025789 deg/s,
      cmd update: 0.103156 deg/s,
      cmd heading: 108.736069 deg,
      new cmd heading: 108.840100 deg.

2021-01-27T23:23:12.674Z,1611789792.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:13.458Z,1611789793.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:13.860Z,1611789793.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:14.690Z,1611789794.690 [Micromodem](INFO): Nmea in: $SNTTA,0.034878,,,,232315.21*47

2021-01-27T23:23:14.722Z,1611789794.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 105.513773 deg, deltaT: 4.437656 s, approachRate: -0.554347 m/s, LOS rate: -0.049083 deg/s, posRepo size: 4
2021-01-27T23:23:14.729Z,1611789794.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.739998 m,
      bearing: 105.513773 deg,
      approachRate: -0.554347 m/s,
      LOS rate: -0.049083 deg/s,
      cmd update: -0.196333 deg/s,
      cmd heading: 109.195926 deg,
      new cmd heading: 109.240871 deg.

2021-01-27T23:23:17.150Z,1611789797.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:17.914Z,1611789797.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:18.308Z,1611789798.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:19.133Z,1611789799.133 [Micromodem](INFO): Nmea in: $SNTTA,0.033229,,,,232319.67*40

2021-01-27T23:23:19.153Z,1611789799.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.019997 m, bearing: 105.023010 deg, deltaT: 4.448664 s, approachRate: -0.836206 m/s, LOS rate: -0.110317 deg/s, posRepo size: 4
2021-01-27T23:23:19.159Z,1611789799.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.019997 m,
      bearing: 105.023010 deg,
      approachRate: -0.836206 m/s,
      LOS rate: -0.110317 deg/s,
      cmd update: -0.441268 deg/s,
      cmd heading: 108.322536 deg,
      new cmd heading: 108.240597 deg.

2021-01-27T23:23:21.600Z,1611789801.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:22.345Z,1611789802.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:22.744Z,1611789802.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:23.589Z,1611789803.589 [Micromodem](INFO): Nmea in: $SNTTA,0.030733,,,,232324.10*43

2021-01-27T23:23:23.644Z,1611789803.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 104.515001 deg, deltaT: 4.483242 s, approachRate: -0.695925 m/s, LOS rate: -0.113313 deg/s, posRepo size: 4
2021-01-27T23:23:23.646Z,1611789803.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.899998 m,
      bearing: 104.515001 deg,
      approachRate: -0.695925 m/s,
      LOS rate: -0.113313 deg/s,
      cmd update: -0.453251 deg/s,
      cmd heading: 106.344173 deg,
      new cmd heading: 106.156661 deg.

2021-01-27T23:23:26.006Z,1611789806.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:26.782Z,1611789806.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:27.212Z,1611789807.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:28.026Z,1611789808.026 [Micromodem](INFO): Nmea in: $SNTTA,0.028638,,,,232328.53*4B

2021-01-27T23:23:28.041Z,1611789808.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.719997 m, bearing: 105.467212 deg, deltaT: 4.409985 s, approachRate: -0.721091 m/s, LOS rate: 0.215921 deg/s, posRepo size: 4
2021-01-27T23:23:28.043Z,1611789808.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.719997 m,
      bearing: 105.467212 deg,
      approachRate: -0.721091 m/s,
      LOS rate: 0.215921 deg/s,
      cmd update: 0.863686 deg/s,
      cmd heading: 104.345356 deg,
      new cmd heading: 104.158644 deg.

2021-01-27T23:23:30.456Z,1611789810.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:31.257Z,1611789811.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:31.642Z,1611789811.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:32.463Z,1611789812.463 [Micromodem](INFO): Nmea in: $SNTTA,0.026660,,0.052668,,232333.01*54

2021-01-27T23:23:32.518Z,1611789812.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.780003 m, bearing: 104.839026 deg, deltaT: 4.432724 s, approachRate: -0.663248 m/s, LOS rate: -0.141716 deg/s, posRepo size: 4
2021-01-27T23:23:32.519Z,1611789812.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.78 m.
2021-01-27T23:23:32.525Z,1611789812.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.780003 m,
      bearing: 104.839026 deg,
      approachRate: -0.663248 m/s,
      LOS rate: -0.141716 deg/s,
      cmd update: -0.566862 deg/s,
      cmd heading: 108.173888 deg,
      new cmd heading: 108.568376 deg.

2021-01-27T23:23:32.882Z,1611789812.882 [PowerOnly](INFO): Powering up loadControl
2021-01-27T23:23:34.614Z,1611789814.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:35.290Z,1611789815.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:35.700Z,1611789815.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:36.517Z,1611789816.517 [Micromodem](INFO): Nmea in: $SNTTA,0.024779,,,,232337.04*4F

2021-01-27T23:23:36.600Z,1611789816.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.959999 m, bearing: 103.472708 deg, deltaT: 4.064008 s, approachRate: -0.693897 m/s, LOS rate: -0.336200 deg/s, posRepo size: 4
2021-01-27T23:23:36.601Z,1611789816.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.96 m.
2021-01-27T23:23:36.603Z,1611789816.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.959999 m,
      bearing: 103.472708 deg,
      approachRate: -0.693897 m/s,
      LOS rate: -0.336200 deg/s,
      cmd update: -1.344798 deg/s,
      cmd heading: 105.870230 deg,
      new cmd heading: 105.603363 deg.

2021-01-27T23:23:39.003Z,1611789819.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:39.730Z,1611789819.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:40.148Z,1611789820.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:40.982Z,1611789820.982 [Micromodem](INFO): Nmea in: $SNTTA,0.022844,,,,232341.48*41

2021-01-27T23:23:41.007Z,1611789821.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.079998 m, bearing: 101.055080 deg, deltaT: 4.468475 s, approachRate: -0.644515 m/s, LOS rate: -0.541041 deg/s, posRepo size: 4
2021-01-27T23:23:41.008Z,1611789821.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.08 m.
2021-01-27T23:23:41.010Z,1611789821.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.079998 m,
      bearing: 101.055080 deg,
      approachRate: -0.644515 m/s,
      LOS rate: -0.541041 deg/s,
      cmd update: -2.164163 deg/s,
      cmd heading: 99.861008 deg,
      new cmd heading: 99.304658 deg.

2021-01-27T23:23:43.430Z,1611789823.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:44.193Z,1611789824.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:44.576Z,1611789824.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:45.457Z,1611789825.457 [Micromodem](INFO): Nmea in: $SNTTA,0.020825,,,,232345.95*40

2021-01-27T23:23:45.517Z,1611789825.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 99.554474 deg, deltaT: 4.432433 s, approachRate: -0.676829 m/s, LOS rate: -0.338551 deg/s, posRepo size: 4
2021-01-27T23:23:45.518Z,1611789825.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.08 m.
2021-01-27T23:23:45.524Z,1611789825.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.080000 m,
      bearing: 99.554474 deg,
      approachRate: -0.676829 m/s,
      LOS rate: -0.338551 deg/s,
      cmd update: -1.354205 deg/s,
      cmd heading: 90.308378 deg,
      new cmd heading: 89.217997 deg.

2021-01-27T23:23:47.918Z,1611789827.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:48.626Z,1611789828.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:49.036Z,1611789829.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:49.866Z,1611789829.866 [Micromodem](INFO): Nmea in: $SNTTA,0.019000,,0.026869,,232350.38*5B

2021-01-27T23:23:49.881Z,1611789829.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 100.391746 deg, deltaT: 4.449253 s, approachRate: -0.620329 m/s, LOS rate: 0.188183 deg/s, posRepo size: 4
2021-01-27T23:23:49.881Z,1611789829.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.32 m.
2021-01-27T23:23:49.883Z,1611789829.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 100.391746 deg,
      approachRate: -0.620329 m/s,
      LOS rate: 0.188183 deg/s,
      cmd update: 0.752730 deg/s,
      cmd heading: 84.258263 deg,
      new cmd heading: 83.709696 deg.

2021-01-27T23:23:52.287Z,1611789832.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:53.070Z,1611789833.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:53.477Z,1611789833.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:54.313Z,1611789834.313 [Micromodem](INFO): Nmea in: $SNTTA,0.017249,,,,232354.82*42

2021-01-27T23:23:54.385Z,1611789834.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.679996 m, bearing: 106.435801 deg, deltaT: 4.438814 s, approachRate: -0.594754 m/s, LOS rate: 1.361637 deg/s, posRepo size: 4
2021-01-27T23:23:54.386Z,1611789834.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.68 m.
2021-01-27T23:23:54.387Z,1611789834.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.679996 m,
      bearing: 106.435801 deg,
      approachRate: -0.594754 m/s,
      LOS rate: 1.361637 deg/s,
      cmd update: 5.446550 deg/s,
      cmd heading: 87.599294 deg,
      new cmd heading: 87.950842 deg.

2021-01-27T23:23:56.740Z,1611789836.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:23:57.506Z,1611789837.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:23:57.920Z,1611789837.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:23:58.753Z,1611789838.753 [Micromodem](INFO): Nmea in: $SNTTA,0.015577,,,,232359.26*49

2021-01-27T23:23:58.786Z,1611789838.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.099997 m, bearing: 112.085904 deg, deltaT: 4.482740 s, approachRate: -0.575541 m/s, LOS rate: 1.260413 deg/s, posRepo size: 4
2021-01-27T23:23:58.786Z,1611789838.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.10 m.
2021-01-27T23:23:58.788Z,1611789838.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.099997 m,
      bearing: 112.085904 deg,
      approachRate: -0.575541 m/s,
      LOS rate: 1.260413 deg/s,
      cmd update: 5.041652 deg/s,
      cmd heading: 111.993185 deg,
      new cmd heading: 114.134060 deg.

2021-01-27T23:24:01.159Z,1611789841.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:01.958Z,1611789841.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:02.387Z,1611789842.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:03.206Z,1611789843.206 [Micromodem](INFO): Nmea in: $SNTTA,0.013903,,,,232403.71*4A

2021-01-27T23:24:03.235Z,1611789843.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.580000 m, bearing: 108.716893 deg, deltaT: 4.376359 s, approachRate: -0.575820 m/s, LOS rate: -0.769821 deg/s, posRepo size: 4
2021-01-27T23:24:03.236Z,1611789843.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.58 m.
2021-01-27T23:24:03.236Z,1611789843.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 20.58 m.
2021-01-27T23:24:03.237Z,1611789843.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-27T23:24:03.238Z,1611789843.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.580000 m,
      bearing: 108.716893 deg,
      approachRate: -0.575820 m/s,
      LOS rate: -0.769821 deg/s,
      cmd update: -3.079282 deg/s,
      cmd heading: 134.078382 deg,
      new cmd heading: 136.407686 deg.

2021-01-27T23:24:05.627Z,1611789845.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:06.410Z,1611789846.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:06.808Z,1611789846.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:07.635Z,1611789847.635 [Micromodem](INFO): Nmea in: $SNTTA,0.012128,,,,232408.16*40

2021-01-27T23:24:07.693Z,1611789847.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.939997 m, bearing: 109.465748 deg, deltaT: 4.466961 s, approachRate: -0.591007 m/s, LOS rate: 0.167643 deg/s, posRepo size: 4
2021-01-27T23:24:07.695Z,1611789847.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.939997 m,
      bearing: 109.465748 deg,
      approachRate: -0.591007 m/s,
      LOS rate: 0.167643 deg/s,
      cmd update: 0.670572 deg/s,
      cmd heading: 120.348247 deg,
      new cmd heading: 118.933920 deg.

2021-01-27T23:24:10.050Z,1611789850.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:10.852Z,1611789850.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:11.262Z,1611789851.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:12.081Z,1611789852.081 [Micromodem](INFO): Nmea in: $SNTTA,0.010341,,,,232412.60*45

2021-01-27T23:24:12.118Z,1611789852.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 102.728682 deg, deltaT: 4.458500 s, approachRate: -0.605584 m/s, LOS rate: -1.511061 deg/s, posRepo size: 4
2021-01-27T23:24:12.120Z,1611789852.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.240002 m,
      bearing: 102.728682 deg,
      approachRate: -0.605584 m/s,
      LOS rate: -1.511061 deg/s,
      cmd update: -6.044245 deg/s,
      cmd heading: 123.343463 deg,
      new cmd heading: 123.624798 deg.

2021-01-27T23:24:14.518Z,1611789854.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:15.286Z,1611789855.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:15.696Z,1611789855.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:16.525Z,1611789856.525 [Micromodem](INFO): Nmea in: $SNTTA,0.009821,,,,232417.04*47

2021-01-27T23:24:16.621Z,1611789856.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 99.055959 deg, deltaT: 4.402883 s, approachRate: -0.163529 m/s, LOS rate: -0.834163 deg/s, posRepo size: 4
2021-01-27T23:24:16.623Z,1611789856.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.520001 m,
      bearing: 99.055959 deg,
      approachRate: -0.163529 m/s,
      LOS rate: -0.834163 deg/s,
      cmd update: -3.336652 deg/s,
      cmd heading: 96.731729 deg,
      new cmd heading: 93.619614 deg.

2021-01-27T23:24:19.004Z,1611789859.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:19.738Z,1611789859.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:20.140Z,1611789860.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:20.971Z,1611789860.971 [Micromodem](INFO): Nmea in: $SNTTA,0.006620,,,,232421.49*4B

2021-01-27T23:24:21.001Z,1611789861.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.719998 m, bearing: 98.852392 deg, deltaT: 4.504356 s, approachRate: -1.065636 m/s, LOS rate: -0.045193 deg/s, posRepo size: 4
2021-01-27T23:24:21.004Z,1611789861.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.719998 m,
      bearing: 98.852392 deg,
      approachRate: -1.065636 m/s,
      LOS rate: -0.045193 deg/s,
      cmd update: -0.180773 deg/s,
      cmd heading: 81.715562 deg,
      new cmd heading: 80.385876 deg.

2021-01-27T23:24:23.441Z,1611789863.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:24.173Z,1611789864.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:24.597Z,1611789864.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:25.437Z,1611789865.437 [Micromodem](INFO): Nmea in: $SNTTA,0.004925,,,,232425.93*40

2021-01-27T23:24:25.496Z,1611789865.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 108.981829 deg, deltaT: 4.424387 s, approachRate: -0.569570 m/s, LOS rate: 2.289456 deg/s, posRepo size: 4
2021-01-27T23:24:25.498Z,1611789865.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 108.981829 deg,
      approachRate: -0.569570 m/s,
      LOS rate: 2.289456 deg/s,
      cmd update: 9.157822 deg/s,
      cmd heading: 80.915723 deg,
      new cmd heading: 80.831524 deg.

2021-01-27T23:24:27.851Z,1611789867.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:28.620Z,1611789868.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:29.028Z,1611789869.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:29.861Z,1611789869.861 [Micromodem](INFO): Nmea in: $SNTTA,0.003650,,,,232430.37*40

2021-01-27T23:24:29.883Z,1611789869.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 128.603310 deg, deltaT: 4.446616 s, approachRate: -0.418296 m/s, LOS rate: 4.412677 deg/s, posRepo size: 4
2021-01-27T23:24:29.885Z,1611789869.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 128.603310 deg,
      approachRate: -0.418296 m/s,
      LOS rate: 4.412677 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 121.671694 deg,
      new cmd heading: 125.393130 deg.

2021-01-27T23:24:32.285Z,1611789872.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:33.062Z,1611789873.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:33.464Z,1611789873.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:34.313Z,1611789874.313 [Micromodem](INFO): Nmea in: $SNTTA,0.003068,,,,232434.82*47

2021-01-27T23:24:34.386Z,1611789874.386 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T23:24:34.386Z,1611789874.386 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T23:24:34.386Z,1611789874.386 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T23:24:34.386Z,1611789874.386 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:24:34.386Z,1611789874.386 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T23:24:34.387Z,1611789874.387 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-01-27T23:24:34.387Z,1611789874.387 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T23:24:34.387Z,1611789874.387 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T23:24:34.387Z,1611789874.387 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T23:24:34.389Z,1611789874.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 69.020510 deg, deltaT: 4.404454 s, approachRate: -0.163471 m/s, LOS rate: -13.527851 deg/s, posRepo size: 4
2021-01-27T23:24:34.390Z,1611789874.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.527851 deg/s. Setting heading cmd to target bearing of 69.020510deg and heading rate command to 0 deg/s.
2021-01-27T23:24:34.711Z,1611789874.711 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T232434: (41.551998, -70.709610)
2021-01-27T23:24:34.712Z,1611789874.712 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T23:24:34.712Z,1611789874.712 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T23:24:34.712Z,1611789874.712 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:24:34.712Z,1611789874.712 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T23:24:34.712Z,1611789874.712 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T23:24:34.712Z,1611789874.712 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T23:24:34.712Z,1611789874.712 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T23:24:34.713Z,1611789874.713 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T23:24:36.730Z,1611789876.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:37.498Z,1611789877.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:37.919Z,1611789877.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:38.749Z,1611789878.749 [Micromodem](INFO): Nmea in: $SNTTA,0.003207,,,,232439.25*4C

2021-01-27T23:24:38.774Z,1611789878.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 131.129209 deg, deltaT: 4.532485 s, approachRate: 0.066189 m/s, LOS rate: 13.703012 deg/s, posRepo size: 4
2021-01-27T23:24:38.775Z,1611789878.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.703012 deg/s. Setting heading cmd to target bearing of 131.129209deg and heading rate command to 0 deg/s.
2021-01-27T23:24:41.174Z,1611789881.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:41.946Z,1611789881.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:42.374Z,1611789882.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:43.217Z,1611789883.217 [Micromodem](INFO): Nmea in: $SNTTA,0.003924,,0.057781,,232443.70*59

2021-01-27T23:24:43.259Z,1611789883.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 117.937109 deg, deltaT: 4.362988 s, approachRate: 0.233785 m/s, LOS rate: -3.023639 deg/s, posRepo size: 4
2021-01-27T23:24:43.261Z,1611789883.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 117.937109 deg,
      approachRate: 0.233785 m/s,
      LOS rate: -3.023639 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 131.129209 deg,
      new cmd heading: 131.129209 deg.

2021-01-27T23:24:45.623Z,1611789885.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:46.408Z,1611789886.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:46.800Z,1611789886.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:47.629Z,1611789887.629 [Micromodem](INFO): Nmea in: $SNTTA,0.005041,,,,232448.16*4C

2021-01-27T23:24:47.675Z,1611789887.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 149.868585 deg, deltaT: 4.470725 s, approachRate: 0.322095 m/s, LOS rate: 7.142348 deg/s, posRepo size: 4
2021-01-27T23:24:47.681Z,1611789887.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 149.868585 deg,
      approachRate: 0.322095 m/s,
      LOS rate: 7.142348 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 77.481552 deg,
      new cmd heading: 72.355824 deg.

2021-01-27T23:24:50.074Z,1611789890.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:50.830Z,1611789890.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:51.242Z,1611789891.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:52.081Z,1611789892.081 [Micromodem](INFO): Nmea in: $SNTTA,0.006283,,,,232452.58*42

2021-01-27T23:24:52.122Z,1611789892.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 116.589239 deg, deltaT: 4.478317 s, approachRate: 0.482324 m/s, LOS rate: -7.431217 deg/s, posRepo size: 4
2021-01-27T23:24:52.123Z,1611789892.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 116.589239 deg,
      approachRate: 0.482324 m/s,
      LOS rate: -7.431217 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 131.175206 deg,
      new cmd heading: 135.970994 deg.

2021-01-27T23:24:54.522Z,1611789894.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:55.293Z,1611789895.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:24:55.680Z,1611789895.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:24:56.517Z,1611789896.517 [Micromodem](INFO): Nmea in: $SNTTA,0.007934,,,,232457.05*49

2021-01-27T23:24:56.551Z,1611789896.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 101.048728 deg, deltaT: 4.385130 s, approachRate: 0.560987 m/s, LOS rate: -3.543911 deg/s, posRepo size: 4
2021-01-27T23:24:56.552Z,1611789896.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.00 m. Rolling out.
2021-01-27T23:24:56.552Z,1611789896.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-27T23:24:58.934Z,1611789898.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:24:59.738Z,1611789899.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:00.132Z,1611789900.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:00.965Z,1611789900.965 [Micromodem](INFO): Nmea in: $SNTTA,0.009844,,,,232501.49*4B

2021-01-27T23:25:00.988Z,1611789900.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.559999 m, bearing: 104.405459 deg, deltaT: 4.457445 s, approachRate: 1.023008 m/s, LOS rate: 0.753062 deg/s, posRepo size: 4
2021-01-27T23:25:03.428Z,1611789903.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:04.173Z,1611789904.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:04.582Z,1611789904.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:05.433Z,1611789905.433 [Micromodem](INFO): Nmea in: $SNTTA,0.011685,,,,232505.93*42

2021-01-27T23:25:05.489Z,1611789905.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 54.882879 deg, deltaT: 4.459191 s, approachRate: 0.242196 m/s, LOS rate: -11.105732 deg/s, posRepo size: 4
2021-01-27T23:25:07.010Z,1611789907.010 [PowerOnly](INFO): Powering down loadControl
2021-01-27T23:25:07.821Z,1611789907.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:08.614Z,1611789908.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:09.020Z,1611789909.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:09.865Z,1611789909.865 [Micromodem](INFO): Nmea in: $SNTTA,0.013304,,,,232510.37*46

2021-01-27T23:25:09.887Z,1611789909.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 55.556629 deg, deltaT: 4.436399 s, approachRate: 0.824994 m/s, LOS rate: 0.151869 deg/s, posRepo size: 4
2021-01-27T23:25:12.284Z,1611789912.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:13.058Z,1611789913.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:13.472Z,1611789913.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:14.301Z,1611789914.301 [Micromodem](INFO): Nmea in: $SNTTA,0.014961,,,,232514.81*41

2021-01-27T23:25:14.330Z,1611789914.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 112.240738 deg, deltaT: 4.433172 s, approachRate: 0.311289 m/s, LOS rate: 12.786355 deg/s, posRepo size: 4
2021-01-27T23:25:16.730Z,1611789916.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:17.498Z,1611789917.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:17.908Z,1611789917.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:18.745Z,1611789918.745 [Micromodem](INFO): Nmea in: $SNTTA,0.016628,,0.032016,,232519.25*5A

2021-01-27T23:25:18.774Z,1611789918.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 95.795657 deg, deltaT: 4.490535 s, approachRate: 0.561181 m/s, LOS rate: -3.662165 deg/s, posRepo size: 4
2021-01-27T23:25:21.177Z,1611789921.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:21.954Z,1611789921.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:22.363Z,1611789922.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:23.193Z,1611789923.193 [Micromodem](INFO): Nmea in: $SNTTA,0.018442,,,,232523.71*4A

2021-01-27T23:25:23.249Z,1611789923.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.839996 m, bearing: 69.744878 deg, deltaT: 4.385291 s, approachRate: 0.602012 m/s, LOS rate: -5.940490 deg/s, posRepo size: 4
2021-01-27T23:25:25.610Z,1611789925.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:26.417Z,1611789926.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:26.792Z,1611789926.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:27.611Z,1611789927.611 [Micromodem](INFO): Nmea in: $SNTTA,0.020247,,,,232528.17*49

2021-01-27T23:25:27.659Z,1611789927.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 102.496810 deg, deltaT: 4.497324 s, approachRate: 0.747112 m/s, LOS rate: 7.282538 deg/s, posRepo size: 4
2021-01-27T23:25:30.044Z,1611789930.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:30.834Z,1611789930.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:31.245Z,1611789931.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:32.077Z,1611789932.077 [Micromodem](INFO): Nmea in: $SNTTA,0.022228,,,,232532.59*43

2021-01-27T23:25:32.123Z,1611789932.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 48.245157 deg, deltaT: 4.429369 s, approachRate: 0.663750 m/s, LOS rate: -12.248168 deg/s, posRepo size: 4
2021-01-27T23:25:34.521Z,1611789934.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:35.282Z,1611789935.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:35.699Z,1611789935.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:36.517Z,1611789936.517 [Micromodem](INFO): Nmea in: $SNTTA,0.024173,,,,232537.04*45

2021-01-27T23:25:36.562Z,1611789936.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.080002 m, bearing: 102.183100 deg, deltaT: 4.399066 s, approachRate: 0.668325 m/s, LOS rate: 12.261226 deg/s, posRepo size: 4
2021-01-27T23:25:38.941Z,1611789938.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:39.730Z,1611789939.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:40.144Z,1611789940.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:40.994Z,1611789940.994 [Micromodem](INFO): Nmea in: $SNTTA,0.026168,,,,232541.48*44

2021-01-27T23:25:41.031Z,1611789941.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.019997 m, bearing: 36.282784 deg, deltaT: 4.483735 s, approachRate: 0.655702 m/s, LOS rate: -14.697638 deg/s, posRepo size: 4
2021-01-27T23:25:43.428Z,1611789943.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:44.204Z,1611789944.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:44.572Z,1611789944.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:45.421Z,1611789945.421 [Micromodem](INFO): Nmea in: $SNTTA,0.028025,,,,232545.96*45

2021-01-27T23:25:45.475Z,1611789945.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.660000 m, bearing: 52.242495 deg, deltaT: 4.424906 s, approachRate: 0.596624 m/s, LOS rate: 3.606791 deg/s, posRepo size: 4
2021-01-27T23:25:47.822Z,1611789947.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:48.614Z,1611789948.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:48.666Z,1611789948.666 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:25:49.024Z,1611789949.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:49.861Z,1611789949.861 [Micromodem](INFO): Nmea in: $SNTTA,0.029974,,0.036630,,232550.37*58

2021-01-27T23:25:49.883Z,1611789949.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.119999 m, bearing: 83.885180 deg, deltaT: 4.500235 s, approachRate: 0.546638 m/s, LOS rate: 7.031341 deg/s, posRepo size: 4
2021-01-27T23:25:52.279Z,1611789952.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:53.058Z,1611789953.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:53.472Z,1611789953.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:54.297Z,1611789954.297 [Micromodem](INFO): Nmea in: $SNTTA,0.031797,,,,232554.81*45

2021-01-27T23:25:54.337Z,1611789954.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.820000 m, bearing: 59.897788 deg, deltaT: 4.373659 s, approachRate: 0.617332 m/s, LOS rate: -5.484513 deg/s, posRepo size: 4
2021-01-27T23:25:56.757Z,1611789956.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:25:57.502Z,1611789957.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:25:57.934Z,1611789957.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:25:58.750Z,1611789958.750 [Micromodem](INFO): Nmea in: $SNTTA,0.033783,,,0.049296,232559.25*5F

2021-01-27T23:25:58.786Z,1611789958.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.879997 m, bearing: 98.844886 deg, deltaT: 4.516082 s, approachRate: 0.677578 m/s, LOS rate: 8.624090 deg/s, posRepo size: 4
2021-01-27T23:26:01.206Z,1611789961.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:01.954Z,1611789961.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:02.378Z,1611789962.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:03.214Z,1611789963.214 [Micromodem](INFO): Nmea in: $SNTTA,0.035558,,,,232603.71*4E

2021-01-27T23:26:03.269Z,1611789963.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.460003 m, bearing: 56.491190 deg, deltaT: 4.400182 s, approachRate: 0.586341 m/s, LOS rate: -9.625442 deg/s, posRepo size: 4
2021-01-27T23:26:05.619Z,1611789965.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:06.475Z,1611789966.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:06.808Z,1611789966.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:07.693Z,1611789967.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 53.465536 deg, deltaT: 4.453307 s, approachRate: 0.687129 m/s, LOS rate: -0.679417 deg/s, posRepo size: 4
2021-01-27T23:26:08.025Z,1611789968.025 [Micromodem](INFO): Nmea in: $SNTTA,0.037583,,,,232608.23*46

2021-01-27T23:26:10.066Z,1611789970.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:10.831Z,1611789970.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:11.245Z,1611789971.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:12.089Z,1611789972.089 [Micromodem](INFO): Nmea in: $SNTTA,0.039447,,0.042202,,232612.58*5E

2021-01-27T23:26:12.111Z,1611789972.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.400002 m, bearing: 113.359010 deg, deltaT: 4.480258 s, approachRate: 0.642820 m/s, LOS rate: 13.368310 deg/s, posRepo size: 4
2021-01-27T23:26:14.516Z,1611789974.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:15.278Z,1611789975.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:15.684Z,1611789975.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:16.521Z,1611789976.521 [Micromodem](INFO): Nmea in: $SNTTA,0.041378,,,,232617.03*49

2021-01-27T23:26:16.566Z,1611789976.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 106.076868 deg, deltaT: 4.373306 s, approachRate: 0.658540 m/s, LOS rate: -1.665134 deg/s, posRepo size: 4
2021-01-27T23:26:18.950Z,1611789978.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:19.718Z,1611789979.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:20.132Z,1611789980.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:20.965Z,1611789980.965 [Micromodem](INFO): Nmea in: $SNTTA,0.043389,,0.058375,,232621.47*52

2021-01-27T23:26:21.007Z,1611789981.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.220001 m, bearing: 45.998978 deg, deltaT: 4.474261 s, approachRate: 0.657092 m/s, LOS rate: -13.427445 deg/s, posRepo size: 4
2021-01-27T23:26:23.430Z,1611789983.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:24.173Z,1611789984.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:24.586Z,1611789984.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:25.425Z,1611789985.425 [Micromodem](INFO): Nmea in: $SNTTA,0.045308,,,,232625.93*42

2021-01-27T23:26:25.490Z,1611789985.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.099998 m, bearing: 59.710053 deg, deltaT: 4.438374 s, approachRate: 0.648886 m/s, LOS rate: 3.089211 deg/s, posRepo size: 4
2021-01-27T23:26:27.834Z,1611789987.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:28.618Z,1611789988.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:29.028Z,1611789989.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:29.860Z,1611789989.860 [Micromodem](INFO): Nmea in: $SNTTA,0.047270,,,,232630.37*44

2021-01-27T23:26:29.879Z,1611789989.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.040001 m, bearing: 54.915739 deg, deltaT: 4.457744 s, approachRate: 0.659527 m/s, LOS rate: -1.075503 deg/s, posRepo size: 4
2021-01-27T23:26:32.285Z,1611789992.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:33.050Z,1611789993.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:33.467Z,1611789993.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:34.298Z,1611789994.298 [Micromodem](INFO): Nmea in: $SNTTA,0.049193,,,,232634.80*4C

2021-01-27T23:26:34.335Z,1611789994.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.400009 m, bearing: 53.763465 deg, deltaT: 4.426255 s, approachRate: 0.759109 m/s, LOS rate: -0.260327 deg/s, posRepo size: 4
2021-01-27T23:26:36.757Z,1611789996.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:37.499Z,1611789997.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:37.905Z,1611789997.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:38.737Z,1611789998.737 [Micromodem](INFO): Nmea in: $SNTTA,0.051223,,,,232639.25*4F

2021-01-27T23:26:38.775Z,1611789998.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 54.304375 deg, deltaT: 4.475014 s, approachRate: 0.670387 m/s, LOS rate: 0.120873 deg/s, posRepo size: 4
2021-01-27T23:26:41.223Z,1611790001.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:41.950Z,1611790001.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:42.372Z,1611790002.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:43.221Z,1611790003.221 [Micromodem](INFO): Nmea in: $SNTTA,0.053151,,,,232643.70*46

2021-01-27T23:26:43.253Z,1611790003.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.860001 m, bearing: 59.391746 deg, deltaT: 4.404299 s, approachRate: 0.558545 m/s, LOS rate: 1.155092 deg/s, posRepo size: 4
2021-01-27T23:26:45.252Z,1611790005.252 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T23:26:45.645Z,1611790005.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:46.410Z,1611790006.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:46.792Z,1611790006.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:47.621Z,1611790007.621 [Micromodem](INFO): Nmea in: $SNTTA,0.055192,,,,232648.16*44

2021-01-27T23:26:47.659Z,1611790007.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 75.413410 deg, deltaT: 4.475819 s, approachRate: 0.670267 m/s, LOS rate: 3.579605 deg/s, posRepo size: 4
2021-01-27T23:26:50.041Z,1611790010.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:50.826Z,1611790010.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:51.259Z,1611790011.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:52.069Z,1611790012.069 [Micromodem](INFO): Nmea in: $SNTTA,0.057216,,,,232652.58*48

2021-01-27T23:26:52.116Z,1611790012.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 65.645508 deg, deltaT: 4.402160 s, approachRate: 0.790524 m/s, LOS rate: -2.218888 deg/s, posRepo size: 4
2021-01-27T23:26:54.521Z,1611790014.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:55.278Z,1611790015.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:26:55.680Z,1611790015.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:26:56.517Z,1611790016.517 [Micromodem](INFO): Nmea in: $SNTTA,0.059145,,,,232657.03*48

2021-01-27T23:26:56.561Z,1611790016.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.220009 m, bearing: 50.949499 deg, deltaT: 4.438420 s, approachRate: 0.648881 m/s, LOS rate: -3.311090 deg/s, posRepo size: 4
2021-01-27T23:26:58.940Z,1611790018.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:26:59.714Z,1611790019.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:00.124Z,1611790020.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:00.971Z,1611790020.971 [Micromodem](INFO): Nmea in: $SNTTA,0.061081,,,,232701.47*48

2021-01-27T23:27:01.002Z,1611790021.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.739998 m, bearing: 67.343589 deg, deltaT: 4.488999 s, approachRate: 0.561370 m/s, LOS rate: 3.652059 deg/s, posRepo size: 4
2021-01-27T23:27:03.405Z,1611790023.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:04.177Z,1611790024.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:04.579Z,1611790024.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:05.421Z,1611790025.421 [Micromodem](INFO): Nmea in: $SNTTA,0.063130,,,,232705.93*4C

2021-01-27T23:27:05.474Z,1611790025.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 65.757428 deg, deltaT: 4.421411 s, approachRate: 0.773510 m/s, LOS rate: -0.358745 deg/s, posRepo size: 4
2021-01-27T23:27:07.818Z,1611790027.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:08.602Z,1611790028.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:09.020Z,1611790029.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:09.853Z,1611790029.853 [Micromodem](INFO): Nmea in: $SNTTA,0.065063,,,,232710.35*45

2021-01-27T23:27:09.875Z,1611790029.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.100006 m, bearing: 56.335721 deg, deltaT: 4.457090 s, approachRate: 0.659624 m/s, LOS rate: -2.113869 deg/s, posRepo size: 4
2021-01-27T23:27:12.279Z,1611790032.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:13.050Z,1611790033.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:13.456Z,1611790033.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:14.325Z,1611790034.325 [Micromodem](INFO): Nmea in: $SNTTA,0.067033,,,,232714.80*48

2021-01-27T23:27:14.397Z,1611790034.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.980003 m, bearing: 70.805839 deg, deltaT: 4.416822 s, approachRate: 0.652052 m/s, LOS rate: 3.276138 deg/s, posRepo size: 4
2021-01-27T23:27:16.385Z,1611790036.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:17.098Z,1611790037.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:17.504Z,1611790037.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:18.353Z,1611790038.353 [Micromodem](INFO): Nmea in: $SNTTA,0.068838,,0.071602,,232718.85*51

2021-01-27T23:27:18.400Z,1611790038.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 62.037420 deg, deltaT: 4.050525 s, approachRate: 0.666581 m/s, LOS rate: -2.164761 deg/s, posRepo size: 4
2021-01-27T23:27:20.747Z,1611790040.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:21.534Z,1611790041.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:21.940Z,1611790041.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:22.777Z,1611790042.777 [Micromodem](INFO): Nmea in: $SNTTA,0.070727,,,,232723.29*4B

2021-01-27T23:27:22.813Z,1611790042.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.500000 m, bearing: 64.997733 deg, deltaT: 4.471229 s, approachRate: 0.630697 m/s, LOS rate: 0.662080 deg/s, posRepo size: 4
2021-01-27T23:27:25.219Z,1611790045.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:25.988Z,1611790045.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:26.424Z,1611790046.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:27.237Z,1611790047.237 [Micromodem](INFO): Nmea in: $SNTTA,0.072656,,,,232727.74*42

2021-01-27T23:27:27.262Z,1611790047.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 66.260724 deg, deltaT: 4.422006 s, approachRate: 0.651289 m/s, LOS rate: 0.285615 deg/s, posRepo size: 4
2021-01-27T23:27:29.647Z,1611790049.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:30.422Z,1611790050.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:30.829Z,1611790050.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:31.669Z,1611790051.669 [Micromodem](INFO): Nmea in: $SNTTA,0.074652,,,0.096991,232732.18*5E

2021-01-27T23:27:31.694Z,1611790051.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 58.275768 deg, deltaT: 4.476869 s, approachRate: 0.670110 m/s, LOS rate: -1.783603 deg/s, posRepo size: 4
2021-01-27T23:27:34.073Z,1611790054.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:34.866Z,1611790054.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:35.272Z,1611790055.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:36.102Z,1611790056.102 [Micromodem](INFO): Nmea in: $SNTTA,0.076527,,,,232736.62*44

2021-01-27T23:27:36.912Z,1611790056.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:38.509Z,1611790058.509 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:27:39.754Z,1611790059.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:40.522Z,1611790060.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:40.933Z,1611790060.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:41.783Z,1611790061.783 [Micromodem](INFO): Nmea in: $SNTTA,0.079154,,,,232742.27*49

2021-01-27T23:27:41.834Z,1611790061.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.100006 m, bearing: 65.688238 deg, deltaT: 10.173442 s, approachRate: 0.660544 m/s, LOS rate: 0.728610 deg/s, posRepo size: 4
2021-01-27T23:27:44.225Z,1611790064.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:44.973Z,1611790064.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:45.401Z,1611790065.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:46.229Z,1611790066.229 [Micromodem](INFO): Nmea in: $SNTTA,0.081194,,,,232746.73*47

2021-01-27T23:27:46.269Z,1611790066.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.220009 m, bearing: 65.091587 deg, deltaT: 4.331679 s, approachRate: 0.720276 m/s, LOS rate: -0.137741 deg/s, posRepo size: 4
2021-01-27T23:27:48.639Z,1611790068.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:49.418Z,1611790069.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:49.828Z,1611790069.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:50.657Z,1611790070.657 [Micromodem](INFO): Nmea in: $SNTTA,0.083240,,,,232751.17*4B

2021-01-27T23:27:50.682Z,1611790070.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.159996 m, bearing: 64.487340 deg, deltaT: 4.497153 s, approachRate: 0.653744 m/s, LOS rate: -0.134362 deg/s, posRepo size: 4
2021-01-27T23:27:53.074Z,1611790073.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:53.862Z,1611790073.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:54.268Z,1611790074.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:55.097Z,1611790075.097 [Micromodem](INFO): Nmea in: $SNTTA,0.085167,,,,232755.61*4E

2021-01-27T23:27:55.119Z,1611790075.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.100006 m, bearing: 66.988733 deg, deltaT: 4.389450 s, approachRate: 0.669790 m/s, LOS rate: 0.569865 deg/s, posRepo size: 4
2021-01-27T23:27:57.560Z,1611790077.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:27:58.306Z,1611790078.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:27:58.713Z,1611790078.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:27:59.549Z,1611790079.549 [Micromodem](INFO): Nmea in: $SNTTA,0.087074,0.089693,0.093575,,232800.06*41

2021-01-27T23:27:59.583Z,1611790079.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.919998 m, bearing: 65.237985 deg, deltaT: 4.457739 s, approachRate: 0.632606 m/s, LOS rate: -0.392744 deg/s, posRepo size: 4
2021-01-27T23:28:01.968Z,1611790081.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:02.754Z,1611790082.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:03.154Z,1611790083.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:03.994Z,1611790083.994 [Micromodem](INFO): Nmea in: $SNTTA,0.089103,,,,232804.51*48

2021-01-27T23:28:04.015Z,1611790084.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.980011 m, bearing: 66.072149 deg, deltaT: 4.468909 s, approachRate: 0.684734 m/s, LOS rate: 0.186659 deg/s, posRepo size: 4
2021-01-27T23:28:06.431Z,1611790086.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:07.206Z,1611790087.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:07.604Z,1611790087.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:08.449Z,1611790088.449 [Micromodem](INFO): Nmea in: $SNTTA,0.091112,,,,232808.96*46

2021-01-27T23:28:08.487Z,1611790088.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.979996 m, bearing: 67.528742 deg, deltaT: 4.400762 s, approachRate: 0.681697 m/s, LOS rate: 0.330986 deg/s, posRepo size: 4
2021-01-27T23:28:10.862Z,1611790090.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:11.630Z,1611790091.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:12.044Z,1611790092.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:12.877Z,1611790092.877 [Micromodem](INFO): Nmea in: $SNTTA,0.093160,,,,232813.38*4F

2021-01-27T23:28:12.910Z,1611790092.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.980011 m, bearing: 64.743240 deg, deltaT: 4.478872 s, approachRate: 0.669815 m/s, LOS rate: -0.621920 deg/s, posRepo size: 4
2021-01-27T23:28:15.322Z,1611790095.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:16.082Z,1611790096.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:16.484Z,1611790096.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:17.386Z,1611790097.386 [Micromodem](INFO): Nmea in: $SNTTA,0.095090,,,,232817.84*44

2021-01-27T23:28:17.420Z,1611790097.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.919998 m, bearing: 62.534623 deg, deltaT: 4.406184 s, approachRate: 0.667241 m/s, LOS rate: -0.501254 deg/s, posRepo size: 4
2021-01-27T23:28:19.754Z,1611790099.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:20.526Z,1611790100.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:20.932Z,1611790100.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:21.761Z,1611790101.761 [Micromodem](INFO): Nmea in: $SNTTA,0.097168,,,,232822.28*40

2021-01-27T23:28:21.825Z,1611790101.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.039993 m, bearing: 59.147601 deg, deltaT: 4.488334 s, approachRate: 0.695134 m/s, LOS rate: -0.754628 deg/s, posRepo size: 4
2021-01-27T23:28:24.228Z,1611790104.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:24.978Z,1611790104.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:25.394Z,1611790105.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:26.209Z,1611790106.209 [Micromodem](INFO): Nmea in: $SNTTA,0.099072,,,,232826.73*4E

2021-01-27T23:28:26.244Z,1611790106.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.860001 m, bearing: 59.259630 deg, deltaT: 4.418705 s, approachRate: 0.638198 m/s, LOS rate: 0.025353 deg/s, posRepo size: 4
2021-01-27T23:28:28.645Z,1611790108.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:29.430Z,1611790109.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:29.824Z,1611790109.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:30.665Z,1611790110.665 [Micromodem](INFO): Nmea in: $SNTTA,0.101095,,,,232831.18*4C

2021-01-27T23:28:30.690Z,1611790110.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.800003 m, bearing: 62.084207 deg, deltaT: 4.455073 s, approachRate: 0.659922 m/s, LOS rate: 0.634014 deg/s, posRepo size: 4
2021-01-27T23:28:30.690Z,1611790110.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.80 m. Resuming terminal guidance.
2021-01-27T23:28:30.690Z,1611790110.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-27T23:28:33.073Z,1611790113.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:33.854Z,1611790113.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:34.264Z,1611790114.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:35.097Z,1611790115.097 [Micromodem](INFO): Nmea in: $SNTTA,0.102972,,,,232835.61*45

2021-01-27T23:28:35.113Z,1611790115.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 65.676640 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-27T23:28:35.113Z,1611790115.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 65.676640deg and heading rate command to 0 deg/s.
2021-01-27T23:28:37.545Z,1611790117.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:38.302Z,1611790118.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:38.704Z,1611790118.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:39.541Z,1611790119.541 [Micromodem](INFO): Nmea in: $SNTTA,0.104937,,,,232840.05*42

2021-01-27T23:28:39.586Z,1611790119.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 54.852901 deg, deltaT: 4.456540 s, approachRate: 0.659709 m/s, LOS rate: -2.428732 deg/s, posRepo size: 2
2021-01-27T23:28:39.588Z,1611790119.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 54.852901 deg,
      approachRate: 0.659709 m/s,
      LOS rate: -2.428732 deg/s,
      cmd update: -9.714926 deg/s,
      cmd heading: 65.676640 deg,
      new cmd heading: 65.676640 deg.

2021-01-27T23:28:41.949Z,1611790121.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:42.746Z,1611790122.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:43.165Z,1611790123.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:44.121Z,1611790124.121 [Micromodem](INFO): Nmea in: $SNTTA,0.106870,,,,232844.50*46

2021-01-27T23:28:44.185Z,1611790124.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 36.087164 deg, deltaT: 4.436634 s, approachRate: 0.000000 m/s, LOS rate: -4.229724 deg/s, posRepo size: 3
2021-01-27T23:28:44.200Z,1611790124.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 36.087164 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.229724 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 22.472069 deg,
      new cmd heading: 16.947191 deg.

2021-01-27T23:28:46.441Z,1611790126.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:47.206Z,1611790127.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:47.596Z,1611790127.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:48.437Z,1611790128.437 [Micromodem](INFO): Nmea in: $SNTTA,0.108517,,,,232848.96*42

2021-01-27T23:28:48.507Z,1611790128.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 31.363180 deg, deltaT: 4.423297 s, approachRate: 0.000000 m/s, LOS rate: -1.067978 deg/s, posRepo size: 4
2021-01-27T23:28:48.514Z,1611790128.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 31.363180 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.067978 deg/s,
      cmd update: -4.271912 deg/s,
      cmd heading: 329.405056 deg,
      new cmd heading: 323.629468 deg.

2021-01-27T23:28:50.858Z,1611790130.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:51.626Z,1611790131.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:52.044Z,1611790132.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:52.881Z,1611790132.881 [Micromodem](INFO): Nmea in: $SNTTA,0.109692,,,,232853.38*43

2021-01-27T23:28:52.903Z,1611790132.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 5.769064 deg, deltaT: 4.481109 s, approachRate: 1.566574 m/s, LOS rate: -5.711558 deg/s, posRepo size: 4
2021-01-27T23:28:52.905Z,1611790132.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.580002 m,
      bearing: 5.769064 deg,
      approachRate: 1.566574 m/s,
      LOS rate: -5.711558 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 310.291089 deg,
      new cmd heading: 308.569273 deg.

2021-01-27T23:28:55.299Z,1611790135.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:28:56.078Z,1611790136.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:28:56.484Z,1611790136.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:28:57.335Z,1611790137.335 [Micromodem](INFO): Nmea in: $SNTTA,0.110269,,,,232857.83*4F

2021-01-27T23:28:57.395Z,1611790137.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 299.703892 deg, deltaT: 4.409890 s, approachRate: 0.000000 m/s, LOS rate: -14.981135 deg/s, posRepo size: 4
2021-01-27T23:28:57.395Z,1611790137.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.981135 deg/s. Setting heading cmd to target bearing of 299.703892deg and heading rate command to 0 deg/s.
2021-01-27T23:28:59.751Z,1611790139.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:00.518Z,1611790140.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:00.929Z,1611790140.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:29:01.781Z,1611790141.781 [Micromodem](INFO): Nmea in: $SNTTA,0.110023,,,,232902.27*4C

2021-01-27T23:29:01.852Z,1611790141.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.299988 m, bearing: 315.150010 deg, deltaT: 4.495119 s, approachRate: 0.160171 m/s, LOS rate: 3.436198 deg/s, posRepo size: 4
2021-01-27T23:29:01.854Z,1611790141.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.299988 m,
      bearing: 315.150010 deg,
      approachRate: 0.160171 m/s,
      LOS rate: 3.436198 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 299.703892 deg,
      new cmd heading: 299.703892 deg.

2021-01-27T23:29:04.211Z,1611790144.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:04.954Z,1611790144.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:05.388Z,1611790145.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:29:06.214Z,1611790146.214 [Micromodem](INFO): Nmea in: $SNTTA,0.108942,,,,232906.71*4C

2021-01-27T23:29:06.238Z,1611790146.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.919998 m, bearing: 249.588281 deg, deltaT: 4.393551 s, approachRate: -0.314094 m/s, LOS rate: -14.922264 deg/s, posRepo size: 4
2021-01-27T23:29:06.238Z,1611790146.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.922264 deg/s. Setting heading cmd to target bearing of 249.588281deg and heading rate command to 0 deg/s.
2021-01-27T23:29:08.633Z,1611790148.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:09.418Z,1611790149.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:09.832Z,1611790149.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:29:10.657Z,1611790150.657 [Micromodem](INFO): Nmea in: $SNTTA,0.107515,,,,232911.17*4B

2021-01-27T23:29:10.682Z,1611790150.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 237.942890 deg, deltaT: 4.466293 s, approachRate: -0.631394 m/s, LOS rate: -2.607395 deg/s, posRepo size: 4
2021-01-27T23:29:10.684Z,1611790150.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.100006 m,
      bearing: 237.942890 deg,
      approachRate: -0.631394 m/s,
      LOS rate: -2.607395 deg/s,
      cmd update: -10.429580 deg/s,
      cmd heading: 249.588281 deg,
      new cmd heading: 249.588281 deg.

2021-01-27T23:29:13.086Z,1611790153.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:13.846Z,1611790153.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:14.267Z,1611790154.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:29:15.089Z,1611790155.089 [Micromodem](INFO): Nmea in: $SNTTA,0.106153,,,,232915.60*48

2021-01-27T23:29:15.905Z,1611790155.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:17.481Z,1611790157.481 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:29:18.731Z,1611790158.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:19.510Z,1611790159.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:19.922Z,1611790159.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:29:20.753Z,1611790160.753 [Micromodem](INFO): Nmea in: $SNTTA,0.104755,,,,232921.26*4F

2021-01-27T23:29:20.778Z,1611790160.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.019989 m, bearing: 245.576692 deg, deltaT: 10.145505 s, approachRate: -0.402150 m/s, LOS rate: 0.752432 deg/s, posRepo size: 4
2021-01-27T23:29:20.780Z,1611790160.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.019989 m,
      bearing: 245.576692 deg,
      approachRate: -0.402150 m/s,
      LOS rate: 0.752432 deg/s,
      cmd update: 3.009728 deg/s,
      cmd heading: 143.885007 deg,
      new cmd heading: 140.026865 deg.

2021-01-27T23:29:23.212Z,1611790163.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:23.946Z,1611790163.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:24.383Z,1611790164.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:29:25.201Z,1611790165.201 [Micromodem](INFO): Nmea in: $SNTTA,0.103321,,,,232925.70*48

2021-01-27T23:29:25.250Z,1611790165.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 242.666977 deg, deltaT: 4.364114 s, approachRate: -0.549938 m/s, LOS rate: -0.666737 deg/s, posRepo size: 4
2021-01-27T23:29:25.252Z,1611790165.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.619995 m,
      bearing: 242.666977 deg,
      approachRate: -0.549938 m/s,
      LOS rate: -0.666737 deg/s,
      cmd update: -2.666947 deg/s,
      cmd heading: 157.052274 deg,
      new cmd heading: 158.458942 deg.

2021-01-27T23:29:25.630Z,1611790165.630 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T23:29:25.631Z,1611790165.631 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T23:29:25.631Z,1611790165.631 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T23:29:25.631Z,1611790165.631 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T23:29:25.631Z,1611790165.631 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T23:29:26.067Z,1611790166.067 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160120001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-01-27T23:29:26.067Z,1611790166.067 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2021-01-27T23:29:26.078Z,1611790166.078 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600CDCC6A0B2C9C10D3524503D95CD010C4DDC94508F746A24FF234D8E6AF593B9328B779CA60D14D24FA53E9687F
2021-01-27T23:29:26.078Z,1611790166.078 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-01-27T23:29:26.405Z,1611790166.405 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-01-27T23:29:26.790Z,1611790166.790 [Micromodem](INFO): Nmea in: $CADRQ,232927,1,10,0,64,1*79

2021-01-27T23:29:26.790Z,1611790166.790 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160120001005D00000400DB0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*31

2021-01-27T23:29:27.203Z,1611790167.203 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T23:29:27.586Z,1611790167.586 [Micromodem](INFO): Nmea in: $CADRQ,232928,1,10,0,64,2*75

2021-01-27T23:29:27.587Z,1611790167.587 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*46

2021-01-27T23:29:27.862Z,1611790167.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:28.008Z,1611790168.008 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T23:29:28.414Z,1611790168.414 [Micromodem](INFO): Nmea in: $CADRQ,232929,1,10,0,64,3*75

2021-01-27T23:29:28.415Z,1611790168.415 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,91CA7DCF49E3E747344986DCDE5C1D3F674600CDCC6A0B2C9C10D3524503D95CD010C4DDC94508F746A24FF234D8E6AF593B9328B779CA60D14D24FA53E9687F*42

2021-01-27T23:29:28.798Z,1611790168.798 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T23:29:28.799Z,1611790168.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:29.222Z,1611790169.222 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-01-27T23:29:29.222Z,1611790169.222 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-01-27T23:29:30.478Z,1611790170.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:32.857Z,1611790172.857 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-01-27T23:29:32.858Z,1611790172.858 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-01-27T23:29:33.255Z,1611790173.255 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,232930.212844,3,0,200,4000,14500,1,1,10,1,3,3,3,192*7C

2021-01-27T23:29:33.255Z,1611790173.255 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,232930.212844,3,0,200,4000,14500,1,1,10,1,3,3,3,192*7C

2021-01-27T23:29:33.321Z,1611790173.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:36.103Z,1611790176.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:36.476Z,1611790176.476 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T23:29:36.890Z,1611790176.890 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-27T23:29:37.290Z,1611790177.290 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-01-27T23:29:37.291Z,1611790177.291 [Micromodem](INFO): Sent 184 bytes from file Logs/20210127T223404/Courier0018.lzma.parts
2021-01-27T23:29:37.291Z,1611790177.291 [Micromodem](INFO): Packets left to send: 1
2021-01-27T23:29:37.685Z,1611790177.685 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127232936.895715,06,8074,39,0291,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,22.7,5.00,12,-2.00,-01,1.24,27,14500,4000*5A

2021-01-27T23:29:37.686Z,1611790177.686 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127232936.895715,06,8074,39,0291,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,22.7,5.00,12,-2.00,-01,1.24,27,14500,4000*5A

2021-01-27T23:29:37.771Z,1611790177.771 [Micromodem](INFO): Using rate 1 for 14 bytes.
2021-01-27T23:29:37.771Z,1611790177.771 [Micromodem](INFO): Outgoing frame #1, 14 bytes: 5CEA116012000000B2A872805700
2021-01-27T23:29:38.619Z,1611790178.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:40.110Z,1611790180.110 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:40.516Z,1611790180.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:29:40.528Z,1611790180.528 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-27T23:29:40.935Z,1611790180.935 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-27T23:29:41.373Z,1611790181.373 [Micromodem](INFO): Nmea in: $CADRQ,232942,1,10,0,64,1*7A

2021-01-27T23:29:41.374Z,1611790181.374 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-01-27T23:29:41.375Z,1611790181.375 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA116012000000B2A872805700*38

2021-01-27T23:29:41.493Z,1611790181.493 [Micromodem](INFO): Using rate 0 for 14 bytes.
2021-01-27T23:29:41.493Z,1611790181.493 [Micromodem](INFO): Outgoing frame #1, 14 bytes: 5CEA116012000000B2A872805700
2021-01-27T23:29:41.528Z,1611790181.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.400009 m, bearing: 250.645758 deg, deltaT: 16.190512 s, approachRate: -0.692998 m/s, LOS rate: 0.492806 deg/s, posRepo size: 4
2021-01-27T23:29:41.530Z,1611790181.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.400009 m,
      bearing: 250.645758 deg,
      approachRate: -0.692998 m/s,
      LOS rate: 0.492806 deg/s,
      cmd update: 1.971224 deg/s,
      cmd heading: 113.909725 deg,
      new cmd heading: 112.394381 deg.

2021-01-27T23:29:41.729Z,1611790181.729 [Micromodem](INFO): Nmea in: $SNTTA,0.095724,,,,232941.86*4C

2021-01-27T23:29:41.729Z,1611790181.729 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.095724,,,,232941.86*4C

2021-01-27T23:29:42.953Z,1611790182.953 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,14*4E

2021-01-27T23:29:42.953Z,1611790182.953 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-27T23:29:43.379Z,1611790183.379 [Micromodem](INFO): Nmea in: $CATXP,14*77

2021-01-27T23:29:43.379Z,1611790183.379 [Micromodem](ERROR): Response from modem unexpected: $CATXP,14*77

2021-01-27T23:29:43.743Z,1611790183.743 [Micromodem](INFO): Nmea in: $CATXF,14*61

2021-01-27T23:29:43.743Z,1611790183.743 [Micromodem](ERROR): Response from modem unexpected: $CATXF,14*61

2021-01-27T23:29:43.813Z,1611790183.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:44.161Z,1611790184.161 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,232943.101097,3,0,200,4000,14500,1,1,10,1,1,1,3,14*40

2021-01-27T23:29:44.162Z,1611790184.162 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,232943.101097,3,0,200,4000,14500,1,1,10,1,1,1,3,14*40

2021-01-27T23:29:45.394Z,1611790185.394 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T23:29:45.395Z,1611790185.395 [Micromodem](INFO): Sent 6 bytes from file Logs/20210127T223404/Courier0018.lzma.parts
2021-01-27T23:29:45.395Z,1611790185.395 [Micromodem](INFO): Packets left to send: 0
2021-01-27T23:29:45.769Z,1611790185.769 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127232946.006015,06,5300,37,0200,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,23.8,6.00,16,-3.00,-01,0.53,28,14500,4000*55

2021-01-27T23:29:45.770Z,1611790185.770 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127232946.006015,06,5300,37,0200,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,23.8,6.00,16,-3.00,-01,0.53,28,14500,4000*55

2021-01-27T23:29:45.910Z,1611790185.910 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T23:29:45.910Z,1611790185.910 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T23:29:45.910Z,1611790185.910 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T23:29:45.911Z,1611790185.911 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T23:29:45.911Z,1611790185.911 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T23:29:46.646Z,1611790186.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:49.466Z,1611790189.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:52.287Z,1611790192.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:54.265Z,1611790194.265 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-01-27T23:29:54.666Z,1611790194.666 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-27T23:29:54.666Z,1611790194.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:54.687Z,1611790194.687 [Micromodem](INFO): Nmea in: $CADRQ,232955,1,10,0,64,1*7C

2021-01-27T23:29:54.692Z,1611790194.692 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,232955,1,10,0,64,1*7C

2021-01-27T23:29:54.804Z,1611790194.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:55.060Z,1611790195.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:29:55.897Z,1611790195.897 [Micromodem](INFO): Nmea in: $SNTTA,0.094510,,0.302928,,232956.42*5A

2021-01-27T23:29:55.919Z,1611790195.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.840012 m, bearing: 175.701398 deg, deltaT: 14.550855 s, approachRate: -0.107210 m/s, LOS rate: -5.150512 deg/s, posRepo size: 4
2021-01-27T23:29:55.921Z,1611790195.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.840012 m,
      bearing: 175.701398 deg,
      approachRate: -0.107210 m/s,
      LOS rate: -5.150512 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 142.588682 deg,
      new cmd heading: 143.398969 deg.

2021-01-27T23:29:56.699Z,1611790196.699 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:29:58.333Z,1611790198.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:29:59.092Z,1611790199.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:29:59.508Z,1611790199.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:00.345Z,1611790200.345 [Micromodem](INFO): Nmea in: $SNTTA,0.095556,,,,233000.84*44

2021-01-27T23:30:00.423Z,1611790200.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 202.837753 deg, deltaT: 4.440812 s, approachRate: 0.297241 m/s, LOS rate: 6.110674 deg/s, posRepo size: 4
2021-01-27T23:30:00.430Z,1611790200.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.160004 m,
      bearing: 202.837753 deg,
      approachRate: 0.297241 m/s,
      LOS rate: 6.110674 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 89.446056 deg,
      new cmd heading: 83.606916 deg.

2021-01-27T23:30:02.778Z,1611790202.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:03.547Z,1611790203.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:03.952Z,1611790203.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:04.789Z,1611790204.789 [Micromodem](INFO): Nmea in: $SNTTA,0.095971,,,,233005.30*47

2021-01-27T23:30:04.834Z,1611790204.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.300003 m, bearing: 180.299782 deg, deltaT: 4.460131 s, approachRate: 0.255598 m/s, LOS rate: -5.053208 deg/s, posRepo size: 4
2021-01-27T23:30:04.841Z,1611790204.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.300003 m,
      bearing: 180.299782 deg,
      approachRate: 0.255598 m/s,
      LOS rate: -5.053208 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 143.305861 deg,
      new cmd heading: 148.218230 deg.

2021-01-27T23:30:07.225Z,1611790207.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:07.991Z,1611790207.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:08.416Z,1611790208.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:09.257Z,1611790209.257 [Micromodem](INFO): Nmea in: $SNTTA,0.097393,,,,233009.74*4F

2021-01-27T23:30:09.306Z,1611790209.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.220001 m, bearing: 131.123076 deg, deltaT: 4.434185 s, approachRate: 0.432999 m/s, LOS rate: -11.090360 deg/s, posRepo size: 4
2021-01-27T23:30:09.308Z,1611790209.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.220001 m,
      bearing: 131.123076 deg,
      approachRate: 0.432999 m/s,
      LOS rate: -11.090360 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 90.095220 deg,
      new cmd heading: 85.039176 deg.

2021-01-27T23:30:11.672Z,1611790211.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:12.442Z,1611790212.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:12.840Z,1611790212.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:13.677Z,1611790213.677 [Micromodem](INFO): Nmea in: $SNTTA,0.098633,,,,233014.19*48

2021-01-27T23:30:13.713Z,1611790213.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.380005 m, bearing: 146.124179 deg, deltaT: 4.432000 s, approachRate: 0.487365 m/s, LOS rate: 3.384725 deg/s, posRepo size: 4
2021-01-27T23:30:13.715Z,1611790213.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.380005 m,
      bearing: 146.124179 deg,
      approachRate: 0.487365 m/s,
      LOS rate: 3.384725 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 36.910631 deg,
      new cmd heading: 31.846967 deg.

2021-01-27T23:30:16.105Z,1611790216.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:16.875Z,1611790216.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:17.388Z,1611790217.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:17.704Z,1611790217.704 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T23:30:18.125Z,1611790218.125 [Micromodem](INFO): Nmea in: $SNTTA,0.100224,,,,233018.63*4B

2021-01-27T23:30:18.140Z,1611790218.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.480011 m, bearing: 44.378451 deg, deltaT: 4.432092 s, approachRate: 0.473818 m/s, LOS rate: -22.956592 deg/s, posRepo size: 4
2021-01-27T23:30:18.141Z,1611790218.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.956592 deg/s. Setting heading cmd to target bearing of 44.378451deg and heading rate command to 0 deg/s.
2021-01-27T23:30:20.557Z,1611790220.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:21.330Z,1611790221.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:21.735Z,1611790221.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:22.566Z,1611790222.566 [Micromodem](INFO): Nmea in: $SNTTA,0.101939,,,,233023.08*48

2021-01-27T23:30:22.599Z,1611790222.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.240005 m, bearing: 60.603080 deg, deltaT: 4.460935 s, approachRate: 0.618703 m/s, LOS rate: 3.637047 deg/s, posRepo size: 4
2021-01-27T23:30:22.602Z,1611790222.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.240005 m,
      bearing: 60.603080 deg,
      approachRate: 0.618703 m/s,
      LOS rate: 3.637047 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 44.378451 deg,
      new cmd heading: 44.378451 deg.

2021-01-27T23:30:24.566Z,1611790224.566 [Micromodem](INFO): Nmea in: $CAERR,233025,DATA_TIMEOUT,1*4B

2021-01-27T23:30:24.997Z,1611790224.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:25.766Z,1611790225.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:26.207Z,1611790226.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:27.013Z,1611790227.013 [Micromodem](INFO): Nmea in: $SNTTA,0.103564,,,,233027.52*45

2021-01-27T23:30:27.046Z,1611790227.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 20.679388 deg, deltaT: 4.442113 s, approachRate: 0.661848 m/s, LOS rate: -8.987545 deg/s, posRepo size: 4
2021-01-27T23:30:27.049Z,1611790227.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.180008 m,
      bearing: 20.679388 deg,
      approachRate: 0.661848 m/s,
      LOS rate: -8.987545 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 97.753084 deg,
      new cmd heading: 102.840280 deg.

2021-01-27T23:30:29.469Z,1611790229.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:30.239Z,1611790230.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:30.616Z,1611790230.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:31.454Z,1611790231.454 [Micromodem](INFO): Nmea in: $SNTTA,0.105062,,,,233031.99*40

2021-01-27T23:30:31.516Z,1611790231.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 52.330714 deg, deltaT: 4.440843 s, approachRate: 0.000000 m/s, LOS rate: 7.127324 deg/s, posRepo size: 4
2021-01-27T23:30:31.518Z,1611790231.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.180008 m,
      bearing: 52.330714 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.127324 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 44.620335 deg,
      new cmd heading: 39.037791 deg.

2021-01-27T23:30:33.851Z,1611790233.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:34.663Z,1611790234.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:35.060Z,1611790235.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:35.905Z,1611790235.905 [Micromodem](INFO): Nmea in: $SNTTA,0.106585,,,,233036.42*4E

2021-01-27T23:30:35.927Z,1611790235.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.080017 m, bearing: 28.456890 deg, deltaT: 4.460482 s, approachRate: 0.874347 m/s, LOS rate: -5.352297 deg/s, posRepo size: 4
2021-01-27T23:30:35.929Z,1611790235.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.080017 m,
      bearing: 28.456890 deg,
      approachRate: 0.874347 m/s,
      LOS rate: -5.352297 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 98.302913 deg,
      new cmd heading: 103.142837 deg.

2021-01-27T23:30:38.385Z,1611790238.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:39.094Z,1611790239.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:39.504Z,1611790239.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:40.340Z,1611790240.340 [Micromodem](INFO): Nmea in: $SNTTA,0.108377,,,,233040.85*41

2021-01-27T23:30:40.414Z,1611790240.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 51.003324 deg, deltaT: 4.433710 s, approachRate: 0.595435 m/s, LOS rate: 5.085230 deg/s, posRepo size: 4
2021-01-27T23:30:40.420Z,1611790240.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.720001 m,
      bearing: 51.003324 deg,
      approachRate: 0.595435 m/s,
      LOS rate: 5.085230 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 45.171867 deg,
      new cmd heading: 39.624075 deg.

2021-01-27T23:30:42.756Z,1611790242.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:43.542Z,1611790243.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:43.948Z,1611790243.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:44.781Z,1611790244.781 [Micromodem](INFO): Nmea in: $SNTTA,0.110377,,,,233045.29*4B

2021-01-27T23:30:44.803Z,1611790244.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 70.776162 deg, deltaT: 4.460461 s, approachRate: 0.618769 m/s, LOS rate: 4.432914 deg/s, posRepo size: 4
2021-01-27T23:30:44.805Z,1611790244.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.479996 m,
      bearing: 70.776162 deg,
      approachRate: 0.618769 m/s,
      LOS rate: 4.432914 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 98.819345 deg,
      new cmd heading: 103.393997 deg.

2021-01-27T23:30:47.253Z,1611790247.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:47.991Z,1611790247.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:48.422Z,1611790248.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:49.257Z,1611790249.257 [Micromodem](INFO): Nmea in: $SNTTA,0.112176,,,,233049.74*4E

2021-01-27T23:30:49.299Z,1611790249.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.540009 m, bearing: 41.817068 deg, deltaT: 4.454573 s, approachRate: 0.686937 m/s, LOS rate: -6.500981 deg/s, posRepo size: 4
2021-01-27T23:30:49.301Z,1611790249.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.540009 m,
      bearing: 41.817068 deg,
      approachRate: 0.686937 m/s,
      LOS rate: -6.500981 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 152.268870 deg,
      new cmd heading: 157.339615 deg.

2021-01-27T23:30:51.665Z,1611790251.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:52.430Z,1611790252.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:52.848Z,1611790252.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:53.670Z,1611790253.670 [Micromodem](INFO): Nmea in: $SNTTA,0.113949,,,,233054.18*4D

2021-01-27T23:30:54.498Z,1611790254.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:56.069Z,1611790256.069 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:30:57.313Z,1611790257.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:30:58.094Z,1611790258.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:30:58.500Z,1611790258.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:30:59.337Z,1611790259.337 [Micromodem](INFO): Nmea in: $SNTTA,0.116386,,,,233059.85*48

2021-01-27T23:31:00.129Z,1611790260.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:01.729Z,1611790261.729 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:31:02.975Z,1611790262.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:03.747Z,1611790263.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:31:04.170Z,1611790264.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:31:04.974Z,1611790264.974 [Micromodem](INFO): Nmea in: $SNTTA,0.118966,,,,233105.50*42

2021-01-27T23:31:05.436Z,1611790265.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.260010 m, bearing: 83.890105 deg, deltaT: 16.146744 s, approachRate: 0.601979 m/s, LOS rate: 2.605667 deg/s, posRepo size: 4
2021-01-27T23:31:05.438Z,1611790265.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.260010 m,
      bearing: 83.890105 deg,
      approachRate: 0.601979 m/s,
      LOS rate: 2.605667 deg/s,
      cmd update: 10.422667 deg/s,
      cmd heading: 318.568214 deg,
      new cmd heading: 313.556245 deg.

2021-01-27T23:31:07.802Z,1611790267.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:08.610Z,1611790268.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:31:08.998Z,1611790268.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:31:09.833Z,1611790269.833 [Micromodem](INFO): Nmea in: $SNTTA,0.120858,,,,233110.36*41

2021-01-27T23:31:09.875Z,1611790269.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.260010 m, bearing: 61.437087 deg, deltaT: 4.453650 s, approachRate: 0.000000 m/s, LOS rate: -5.041487 deg/s, posRepo size: 4
2021-01-27T23:31:09.877Z,1611790269.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.260010 m,
      bearing: 61.437087 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.041487 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 5.041959 deg,
      new cmd heading: 9.190430 deg.

2021-01-27T23:31:12.289Z,1611790272.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:13.050Z,1611790273.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:31:13.448Z,1611790273.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:31:14.280Z,1611790274.280 [Micromodem](INFO): Nmea in: $SNTTA,0.121921,,,,233114.80*46

2021-01-27T23:31:14.697Z,1611790274.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.239990 m, bearing: 22.659404 deg, deltaT: 4.878388 s, approachRate: 1.020825 m/s, LOS rate: -7.948872 deg/s, posRepo size: 4
2021-01-27T23:31:14.699Z,1611790274.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.239990 m,
      bearing: 22.659404 deg,
      approachRate: 1.020825 m/s,
      LOS rate: -7.948872 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 306.744781 deg,
      new cmd heading: 302.402377 deg.

2021-01-27T23:31:17.103Z,1611790277.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:17.886Z,1611790277.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:31:18.296Z,1611790278.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:31:19.119Z,1611790279.119 [Micromodem](INFO): Nmea in: $SNTTA,0.122988,,,,233119.64*41

2021-01-27T23:31:19.928Z,1611790279.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:21.533Z,1611790281.533 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T23:31:22.763Z,1611790282.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:23.550Z,1611790283.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:31:23.948Z,1611790283.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:31:24.772Z,1611790284.772 [Micromodem](INFO): Nmea in: $SNTTA,0.122794,,,,233125.30*4C

2021-01-27T23:31:25.224Z,1611790285.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.199997 m, bearing: 274.381676 deg, deltaT: 10.431831 s, approachRate: 0.092027 m/s, LOS rate: -10.379551 deg/s, posRepo size: 4
2021-01-27T23:31:25.226Z,1611790285.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.199997 m,
      bearing: 274.381676 deg,
      approachRate: 0.092027 m/s,
      LOS rate: -10.379551 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 181.317441 deg,
      new cmd heading: 176.130692 deg.

2021-01-27T23:31:27.615Z,1611790287.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:28.422Z,1611790288.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:31:28.808Z,1611790288.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:31:29.630Z,1611790289.630 [Micromodem](INFO): Nmea in: $SNTTA,0.122005,,,,233130.17*42

2021-01-27T23:31:30.055Z,1611790290.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.820007 m, bearing: 243.821224 deg, deltaT: 4.896012 s, approachRate: -0.281860 m/s, LOS rate: -6.241907 deg/s, posRepo size: 4
2021-01-27T23:31:30.057Z,1611790290.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.820007 m,
      bearing: 243.821224 deg,
      approachRate: -0.281860 m/s,
      LOS rate: -6.241907 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 122.615239 deg,
      new cmd heading: 118.102435 deg.

2021-01-27T23:31:32.475Z,1611790292.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T23:31:33.259Z,1611790293.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:31:33.663Z,1611790293.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:31:34.476Z,1611790294.476 [Micromodem](INFO): Nmea in: $SNTTA,0.120336,,,,233135.01*41

2021-01-27T23:31:34.916Z,1611790294.916 [lineCaptureDepth](INFO): Timed out from 2021-01-27T22:46:34.6Z
2021-01-27T23:31:34.916Z,1611790294.916 [MissionManager](INFO): lineCaptureDepth is completed.
2021-01-27T23:31:34.917Z,1611790294.917 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth] Stopped
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:Science] Stopped
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:Science:B] Stopped
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:Science:C] Stopped
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-01-27T23:31:34.917Z,1611790294.917 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:J.] Stopped
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:LineCapture] Stopped
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-01-27T23:31:34.918Z,1611790294.918 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:G] Stopped
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:H] Stopped
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-01-27T23:31:34.919Z,1611790294.919 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-27T23:31:34.920Z,1611790294.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-01-27T23:31:34.921Z,1611790294.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-01-27T23:31:34.921Z,1611790294.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-01-27T23:31:34.921Z,1611790294.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-01-27T23:31:34.921Z,1611790294.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-27T23:31:34.921Z,1611790294.921 [lineCaptureDepth:Lap] Stopped
2021-01-27T23:31:34.921Z,1611790294.921 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-01-27T23:31:34.921Z,1611790294.921 [lineCaptureDepth:Lap:B] Stopped
2021-01-27T23:31:34.921Z,1611790294.921 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-01-27T23:31:35.224Z,1611790295.224 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-01-27T23:31:35.279Z,1611790295.279 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-01-27T23:31:35.279Z,1611790295.279 [DefaultWithUndock] Running Loop=1
2021-01-27T23:31:35.279Z,1611790295.279 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-01-27T23:31:35.284Z,1611790295.284 [DefaultWithUndock:A.Wait] Running Loop=1
2021-01-27T23:31:35.284Z,1611790295.284 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-01-27T23:32:05.579Z,1611790325.579 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-01-27T23:32:05.579Z,1611790325.579 [DefaultWithUndock:A.Wait] Stopped
2021-01-27T23:32:05.579Z,1611790325.579 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T23:32:05.580Z,1611790325.580 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-01-27T23:32:05.580Z,1611790325.580 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-01-27T23:32:05.580Z,1611790325.580 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-01-27T23:32:05.580Z,1611790325.580 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-01-27T23:32:05.580Z,1611790325.580 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-01-27T23:32:05.580Z,1611790325.580 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-01-27T23:32:05.581Z,1611790325.581 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T23:32:06.371Z,1611790326.371 [PowerOnly](INFO): Powering up loadControl
2021-01-27T23:32:08.452Z,1611790328.452 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:09.219Z,1611790329.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:09.608Z,1611790329.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:10.445Z,1611790330.445 [Micromodem](INFO): Nmea in: $SNTTA,0.111727,,,,233210.97*4C

2021-01-27T23:32:12.865Z,1611790332.865 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:13.646Z,1611790333.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:14.060Z,1611790334.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:14.889Z,1611790334.889 [Micromodem](INFO): Nmea in: $SNTTA,0.111025,,,,233215.40*46

2021-01-27T23:32:17.319Z,1611790337.319 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:18.095Z,1611790338.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:18.500Z,1611790338.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:19.366Z,1611790339.366 [Micromodem](INFO): Nmea in: $SNTTA,0.110403,,,,233219.85*42

2021-01-27T23:32:19.413Z,1611790339.413 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-01-27T23:32:19.747Z,1611790339.747 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-01-27T23:32:20.136Z,1611790340.136 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-01-27T23:32:20.567Z,1611790340.567 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-01-27T23:32:21.756Z,1611790341.756 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:22.538Z,1611790342.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:22.944Z,1611790342.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:23.781Z,1611790343.781 [Micromodem](INFO): Nmea in: $SNTTA,0.109840,,,,233224.29*49

2021-01-27T23:32:26.219Z,1611790346.219 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:26.978Z,1611790346.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:27.408Z,1611790347.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:28.225Z,1611790348.225 [Micromodem](INFO): Nmea in: $SNTTA,0.109325,,,,233228.73*42

2021-01-27T23:32:30.632Z,1611790350.632 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:31.422Z,1611790351.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:31.832Z,1611790351.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:32.653Z,1611790352.653 [Micromodem](INFO): Nmea in: $SNTTA,0.108978,,,,233233.17*49

2021-01-27T23:32:35.070Z,1611790355.070 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:35.866Z,1611790355.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:36.270Z,1611790356.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:37.113Z,1611790357.113 [Micromodem](INFO): Nmea in: $SNTTA,0.108643,,,,233237.62*48

2021-01-27T23:32:39.532Z,1611790359.532 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:40.314Z,1611790360.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:40.720Z,1611790360.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:40.765Z,1611790360.765 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 162.84 m. Transitioning DDM to standby.
2021-01-27T23:32:41.545Z,1611790361.545 [Micromodem](INFO): Nmea in: $SNTTA,0.108303,,,,233242.07*48

2021-01-27T23:32:43.958Z,1611790363.958 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:44.759Z,1611790364.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:45.160Z,1611790365.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:45.993Z,1611790365.993 [Micromodem](INFO): Nmea in: $SNTTA,0.108014,,,,233246.51*4A

2021-01-27T23:32:48.448Z,1611790368.448 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:49.214Z,1611790369.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T23:32:49.605Z,1611790369.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T23:32:50.449Z,1611790370.449 [Micromodem](INFO): Nmea in: $SNTTA,0.107704,,,,233250.97*4E

2021-01-27T23:32:52.884Z,1611790372.884 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-01-27T23:32:52.885Z,1611790372.885 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T23:32:53.278Z,1611790373.278 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-01-27T23:32:53.279Z,1611790373.279 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-01-27T23:32:53.279Z,1611790373.279 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-01-27T23:32:53.279Z,1611790373.279 [DefaultWithUndock:LeaveDock] Stopped
2021-01-27T23:32:53.279Z,1611790373.279 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-01-27T23:32:53.280Z,1611790373.280 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-01-27T23:32:53.281Z,1611790373.281 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-01-27T23:32:53.281Z,1611790373.281 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-01-27T23:32:53.281Z,1611790373.281 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-01-27T23:32:53.282Z,1611790373.282 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-01-27T23:32:53.282Z,1611790373.282 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-01-27T23:32:54.248Z,1611790374.248 [Radio_Surface](INFO): Powering up
2021-01-27T23:32:59.756Z,1611790379.756 [DataOverHttps](INFO): Radio surface powered ON.
2021-01-27T23:33:29.876Z,1611790409.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T23:33:37.678Z,1611790417.678 [PowerOnly](INFO): Powering down loadControl
2021-01-27T23:34:05.036Z,1611790445.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T23:34:21.734Z,1611790461.734 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -2.72
2021-01-27T23:34:40.180Z,1611790480.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T23:35:15.329Z,1611790515.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T23:35:34.053Z,1611790534.053 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-01-27T23:35:34.053Z,1611790534.053 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:35:34.053Z,1611790534.053 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-27T23:35:34.053Z,1611790534.053 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-01-27T23:35:34.054Z,1611790534.054 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-01-27T23:35:34.054Z,1611790534.054 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-01-27T23:35:34.054Z,1611790534.054 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-01-27T23:35:42.199Z,1611790542.199 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T23:35:50.480Z,1611790550.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T23:35:52.224Z,1611790552.224 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:36:02.286Z,1611790562.286 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T23:36:14.809Z,1611790574.809 [NAL9602](INFO): SBD MO Status=2, MOMSN=13171, MT Status=2, MTMSN=0
2021-01-27T23:36:14.809Z,1611790574.809 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-01-27T23:36:19.600Z,1611790579.600 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003324
2021-01-27T23:36:45.111Z,1611790605.111 [NAL9602](INFO): SBD MO Status=0, MOMSN=13171, MT Status=0, MTMSN=0
2021-01-27T23:36:45.111Z,1611790605.111 [NAL9602](INFO): No messages in MT queue
2021-01-27T23:36:46.323Z,1611790606.323 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233646.00,A,4133.16284,N,07042.56738,W,0.214,0.00,270121,,,A*78
2021-01-27T23:36:46.335Z,1611790606.335 [NAL9602](INFO): GPS fix at 20210127T233646: (41.552714, -70.709456)
2021-01-27T23:36:46.350Z,1611790606.350 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-27T23:36:46.351Z,1611790606.351 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-27T23:36:50.739Z,1611790610.739 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20210127T223404/Courier0021.lzma
2021-01-27T23:36:51.742Z,1611790611.742 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0021.lzma.bak
2021-01-27T23:36:51.742Z,1611790611.742 [DataOverHttps](INFO): SBD MOMSN=69755
2021-01-27T23:37:00.779Z,1611790620.779 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T223404/Courier0024.lzma
2021-01-27T23:37:01.782Z,1611790621.782 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0024.lzma.bak
2021-01-27T23:37:01.782Z,1611790621.782 [DataOverHttps](INFO): SBD MOMSN=69759
2021-01-27T23:37:10.822Z,1611790630.822 [DataOverHttps](INFO): Sending 762 bytes from file Logs/20210127T223404/Express0010.lzma
2021-01-27T23:37:11.822Z,1611790631.822 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0010.lzma.bak
2021-01-27T23:37:11.822Z,1611790631.822 [DataOverHttps](INFO): SBD MOMSN=69761
2021-01-27T23:37:18.638Z,1611790638.638 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T23:37:20.859Z,1611790640.859 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20210127T223404/Express0013.lzma
2021-01-27T23:37:21.862Z,1611790641.862 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0013.lzma.bak
2021-01-27T23:37:21.862Z,1611790641.862 [DataOverHttps](INFO): SBD MOMSN=69784
2021-01-27T23:37:30.900Z,1611790650.900 [DataOverHttps](INFO): Sending 326 bytes from file Logs/20210127T223404/Express0016.lzma
2021-01-27T23:37:31.902Z,1611790651.902 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0016.lzma.bak
2021-01-27T23:37:31.902Z,1611790651.902 [DataOverHttps](INFO): SBD MOMSN=69786
2021-01-27T23:37:40.939Z,1611790660.939 [DataOverHttps](INFO): Sending 154 bytes from file Logs/20210127T223404/Express0019.lzma
2021-01-27T23:37:41.942Z,1611790661.942 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0019.lzma.bak
2021-01-27T23:37:41.942Z,1611790661.942 [DataOverHttps](INFO): SBD MOMSN=69790
2021-01-27T23:37:50.984Z,1611790670.984 [DataOverHttps](INFO): Sending 231 bytes from file Logs/20210127T223404/Express0022.lzma
2021-01-27T23:37:51.986Z,1611790671.986 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0022.lzma.bak
2021-01-27T23:37:51.986Z,1611790671.986 [DataOverHttps](INFO): SBD MOMSN=69792
2021-01-27T23:38:01.023Z,1611790681.023 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210127T223404/Express0025.lzma
2021-01-27T23:38:02.026Z,1611790682.026 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0025.lzma.bak
2021-01-27T23:38:02.026Z,1611790682.026 [DataOverHttps](INFO): SBD MOMSN=69796
2021-01-27T23:38:03.521Z,1611790683.521 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-27T23:38:03.522Z,1611790683.522 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-27T23:38:03.522Z,1611790683.522 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-27T23:38:37.446Z,1611790717.446 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:39:47.734Z,1611790787.734 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T23:40:12.417Z,1611790812.417 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:40:32.583Z,1611790832.583 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T23:40:42.679Z,1611790842.679 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T23:40:47.526Z,1611790847.526 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T23:43:04.072Z,1611790984.072 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-01-27T23:43:04.072Z,1611790984.072 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-27T23:43:04.072Z,1611790984.072 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T23:43:04.072Z,1611790984.072 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-01-27T23:43:04.483Z,1611790984.483 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-01-27T23:43:04.484Z,1611790984.484 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-01-27T23:43:04.901Z,1611790984.901 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 11.486740 min 
2021-01-27T23:43:04.901Z,1611790984.901 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-01-27T23:43:04.901Z,1611790984.901 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:43:04.901Z,1611790984.901 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-27T23:43:04.901Z,1611790984.901 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:43:04.901Z,1611790984.901 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-01-27T23:43:04.901Z,1611790984.901 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-01-27T23:43:04.902Z,1611790984.902 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:43:04.902Z,1611790984.902 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-27T23:43:06.888Z,1611790986.888 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234307.00,A,4133.11329,N,07042.59155,W,0.525,185.82,270121,,,A*7F
2021-01-27T23:43:06.890Z,1611790986.890 [NAL9602](INFO): GPS fix at 20210127T234307: (41.551888, -70.709859)
2021-01-27T23:43:06.934Z,1611790986.934 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-27T23:43:06.934Z,1611790986.934 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-27T23:43:11.352Z,1611790991.352 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20210127T223404/Courier0027.lzma
2021-01-27T23:43:12.355Z,1611790992.355 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0027.lzma.bak
2021-01-27T23:43:12.355Z,1611790992.355 [DataOverHttps](INFO): SBD MOMSN=69798
2021-01-27T23:43:21.397Z,1611791001.397 [DataOverHttps](INFO): Sending 122 bytes from file Logs/20210127T223404/Express0028.lzma
2021-01-27T23:43:22.396Z,1611791002.396 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0028.lzma.bak
2021-01-27T23:43:22.396Z,1611791002.396 [DataOverHttps](INFO): SBD MOMSN=69801
2021-01-27T23:43:22.656Z,1611791002.656 [NAL9602](INFO): SBD MO Status=0, MOMSN=13172, MT Status=0, MTMSN=0
2021-01-27T23:43:22.657Z,1611791002.657 [NAL9602](INFO): No messages in MT queue
2021-01-27T23:43:23.877Z,1611791003.877 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-27T23:43:23.877Z,1611791003.877 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-27T23:43:23.877Z,1611791003.877 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-27T23:43:53.370Z,1611791033.370 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T23:46:33.399Z,1611791193.399 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:47:31.596Z,1611791251.596 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T23:48:24.466Z,1611791304.466 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-01-27T23:48:24.466Z,1611791304.466 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-27T23:48:24.466Z,1611791304.466 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T23:48:24.467Z,1611791304.467 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-01-27T23:48:24.876Z,1611791304.876 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-01-27T23:48:24.876Z,1611791304.876 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-01-27T23:48:25.265Z,1611791305.265 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 16.826624 min 
2021-01-27T23:48:25.265Z,1611791305.265 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-01-27T23:48:25.265Z,1611791305.265 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:48:25.265Z,1611791305.265 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-27T23:48:25.265Z,1611791305.265 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:48:25.265Z,1611791305.265 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-01-27T23:48:25.265Z,1611791305.265 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-01-27T23:48:25.265Z,1611791305.265 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:48:25.266Z,1611791305.266 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-27T23:48:27.276Z,1611791307.276 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234827.00,A,4133.07166,N,07042.60864,W,0.933,220.78,270121,,,A*7B
2021-01-27T23:48:27.279Z,1611791307.279 [NAL9602](INFO): GPS fix at 20210127T234827: (41.551194, -70.710144)
2021-01-27T23:48:27.299Z,1611791307.299 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-27T23:48:27.299Z,1611791307.299 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-27T23:48:31.683Z,1611791311.683 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20210127T223404/Courier0030.lzma
2021-01-27T23:48:32.686Z,1611791312.686 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0030.lzma.bak
2021-01-27T23:48:32.686Z,1611791312.686 [DataOverHttps](INFO): SBD MOMSN=69805
2021-01-27T23:48:41.723Z,1611791321.723 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210127T223404/Express0031.lzma
2021-01-27T23:48:42.727Z,1611791322.727 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0031.lzma.bak
2021-01-27T23:48:42.727Z,1611791322.727 [DataOverHttps](INFO): SBD MOMSN=69808
2021-01-27T23:48:44.268Z,1611791324.268 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-27T23:48:44.268Z,1611791324.268 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-27T23:48:44.268Z,1611791324.268 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-27T23:48:53.946Z,1611791333.946 [NAL9602](INFO): SBD MO Status=0, MOMSN=13173, MT Status=0, MTMSN=0
2021-01-27T23:48:53.946Z,1611791333.946 [NAL9602](INFO): No messages in MT queue
2021-01-27T23:49:24.642Z,1611791364.642 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T23:49:59.041Z,1611791399.041 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T234958
2021-01-27T23:50:03.060Z,1611791403.060 [DataOverHttps](INFO): Received command:get LineCapture.navigationGain
2021-01-27T23:50:04.042Z,1611791404.042 [CommandLine](IMPORTANT): got command get LineCapture.navigationGain
2021-01-27T23:50:04.042Z,1611791404.042 [CommandLine](IMPORTANT): LineCapture.navigationGain 4.000000 n/a
2021-01-27T23:53:44.865Z,1611791624.865 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-01-27T23:53:44.865Z,1611791624.865 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-27T23:53:44.865Z,1611791624.865 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T23:53:44.865Z,1611791624.865 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-01-27T23:53:45.243Z,1611791625.243 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-01-27T23:53:45.243Z,1611791625.243 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-01-27T23:53:45.697Z,1611791625.697 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 22.166062 min 
2021-01-27T23:53:45.697Z,1611791625.697 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-01-27T23:53:45.697Z,1611791625.697 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:53:45.697Z,1611791625.697 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-27T23:53:45.697Z,1611791625.697 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:53:45.697Z,1611791625.697 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-01-27T23:53:45.697Z,1611791625.697 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-01-27T23:53:45.697Z,1611791625.697 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:53:45.698Z,1611791625.698 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-27T23:53:47.664Z,1611791627.664 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235347.00,A,4133.03320,N,07042.62762,W,0.952,194.54,270121,,,A*7D
2021-01-27T23:53:47.666Z,1611791627.666 [NAL9602](INFO): GPS fix at 20210127T235347: (41.550553, -70.710460)
2021-01-27T23:53:47.738Z,1611791627.738 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-27T23:53:47.738Z,1611791627.738 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-27T23:53:52.015Z,1611791632.015 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20210127T223404/Courier0033.lzma
2021-01-27T23:53:53.018Z,1611791633.018 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0033.lzma.bak
2021-01-27T23:53:53.018Z,1611791633.018 [DataOverHttps](INFO): SBD MOMSN=69814
2021-01-27T23:54:02.056Z,1611791642.056 [DataOverHttps](INFO): Sending 212 bytes from file Logs/20210127T223404/Express0034.lzma
2021-01-27T23:54:03.058Z,1611791643.058 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0034.lzma.bak
2021-01-27T23:54:03.058Z,1611791643.058 [DataOverHttps](INFO): SBD MOMSN=69817
2021-01-27T23:54:12.111Z,1611791652.111 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210127T223404/Express0037.lzma
2021-01-27T23:54:13.114Z,1611791653.114 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0037.lzma.bak
2021-01-27T23:54:13.114Z,1611791653.114 [DataOverHttps](INFO): SBD MOMSN=69823
2021-01-27T23:54:13.118Z,1611791653.118 [NAL9602](INFO): SBD MO Status=0, MOMSN=13174, MT Status=0, MTMSN=0
2021-01-27T23:54:13.118Z,1611791653.118 [NAL9602](INFO): No messages in MT queue
2021-01-27T23:54:14.332Z,1611791654.332 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-27T23:54:14.332Z,1611791654.332 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-27T23:54:14.333Z,1611791654.333 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-27T23:54:43.864Z,1611791683.864 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T23:55:43.222Z,1611791743.222 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T23:56:03.565Z,1611791763.565 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T235603
2021-01-27T23:56:07.583Z,1611791767.583 [DataOverHttps](INFO): Received command:get LineCapture.rolloutdistance
2021-01-27T23:56:08.578Z,1611791768.578 [CommandLine](IMPORTANT): got command get LineCapture.rolloutDistance
2021-01-27T23:56:08.578Z,1611791768.578 [CommandLine](IMPORTANT): LineCapture.rolloutDistance 150.000000 m
2021-01-27T23:59:14.902Z,1611791954.902 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-01-27T23:59:14.903Z,1611791954.903 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-27T23:59:14.903Z,1611791954.903 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T23:59:14.903Z,1611791954.903 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-01-27T23:59:15.318Z,1611791955.318 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-01-27T23:59:15.318Z,1611791955.318 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-01-27T23:59:15.730Z,1611791955.730 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 27.667316 min 
2021-01-27T23:59:15.730Z,1611791955.730 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-01-27T23:59:15.731Z,1611791955.731 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:59:15.731Z,1611791955.731 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-27T23:59:15.731Z,1611791955.731 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:59:15.731Z,1611791955.731 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-01-27T23:59:15.731Z,1611791955.731 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-01-27T23:59:15.731Z,1611791955.731 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T23:59:15.731Z,1611791955.731 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-27T23:59:17.736Z,1611791957.736 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235918.00,A,4132.99548,N,07042.64222,W,0.175,204.92,270121,,,A*7D
2021-01-27T23:59:17.738Z,1611791957.738 [NAL9602](INFO): GPS fix at 20210127T235918: (41.549925, -70.710704)
2021-01-27T23:59:17.759Z,1611791957.759 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-27T23:59:17.759Z,1611791957.759 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-27T23:59:21.351Z,1611791961.351 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210127T223404/Courier0039.lzma
2021-01-27T23:59:22.355Z,1611791962.355 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0039.lzma.bak
2021-01-27T23:59:22.357Z,1611791962.357 [DataOverHttps](INFO): SBD MOMSN=69828
2021-01-27T23:59:31.397Z,1611791971.397 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T223404/Courier0040.lzma
2021-01-27T23:59:32.402Z,1611791972.402 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0040.lzma.bak
2021-01-27T23:59:32.402Z,1611791972.402 [DataOverHttps](INFO): SBD MOMSN=69831
2021-01-27T23:59:39.196Z,1611791979.196 [NAL9602](INFO): SBD MO Status=2, MOMSN=13175, MT Status=2, MTMSN=0
2021-01-27T23:59:39.196Z,1611791979.196 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-01-27T23:59:41.448Z,1611791981.448 [DataOverHttps](INFO): Sending 227 bytes from file Logs/20210127T223404/Express0040.lzma
2021-01-27T23:59:42.450Z,1611791982.450 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0040.lzma.bak
2021-01-27T23:59:42.450Z,1611791982.450 [DataOverHttps](INFO): SBD MOMSN=69833
2021-01-27T23:59:44.070Z,1611791984.070 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-27T23:59:44.071Z,1611791984.071 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-27T23:59:44.071Z,1611791984.071 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-27T23:59:50.533Z,1611791990.533 [NAL9602](INFO): SBD MO Status=0, MOMSN=13175, MT Status=0, MTMSN=0
2021-01-27T23:59:50.534Z,1611791990.534 [NAL9602](INFO): No messages in MT queue
2021-01-28T00:00:21.226Z,1611792021.226 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-28T00:00:28.505Z,1611792028.505 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-28T00:01:33.906Z,1611792093.906 [DataOverHttps](IMPORTANT): SBD MTMSN=20210128T000133
2021-01-28T00:01:37.924Z,1611792097.924 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 1.25 hour;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 7 count;set lineCaptureDepth.MinAltitude 3 meter" 2tuqa 1 2
2021-01-28T00:01:37.941Z,1611792097.941 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 1.25 hour;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 7 count;set lineCaptureDepth.MinAltitude 3 meter" 2tuqa 1 2.000000
2021-01-28T00:01:37.941Z,1611792097.941 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2tuqa
2021-01-28T00:01:37.942Z,1611792097.942 [CommandLine](IMPORTANT): Scheduled #5 (#1 of 2 with id='2tuqa'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 1.25 hour;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 7 count;set lineCaptureDepth.MinAltitude 3 meter" ASAP
2021-01-28T00:01:38.930Z,1611792098.930 [DataOverHttps](IMPORTANT): SBD MTMSN=20210128T000138
2021-01-28T00:01:42.944Z,1611792102.944 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2tuqa 2 2
2021-01-28T00:01:42.989Z,1611792102.989 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2tuqa 2 2.000000
2021-01-28T00:01:42.989Z,1611792102.989 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2tuqa
2021-01-28T00:01:42.990Z,1611792102.990 [CommandLine](IMPORTANT): Scheduled #6 (#2 of 2 with id='2tuqa'): "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP
2021-01-28T00:01:43.237Z,1611792103.237 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-01-28T00:01:43.238Z,1611792103.238 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-01-28T00:01:43.563Z,1611792103.563 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-01-28T00:01:43.569Z,1611792103.569 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-01-28T00:01:43.572Z,1611792103.572 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-01-28T00:01:43.574Z,1611792103.574 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-01-28T00:01:43.580Z,1611792103.580 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-01-28T00:01:43.583Z,1611792103.583 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-01-28T00:01:43.585Z,1611792103.585 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-01-28T00:01:43.587Z,1611792103.587 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-01-28T00:01:43.633Z,1611792103.633 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-01-28T00:01:43.635Z,1611792103.635 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-01-28T00:01:43.646Z,1611792103.646 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-01-28T00:01:43.692Z,1611792103.692 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-01-28T00:01:43.693Z,1611792103.693 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-01-28T00:01:44.099Z,1611792104.099 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-01-28T00:01:44.132Z,1611792104.132 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-01-28T00:01:44.134Z,1611792104.134 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-01-28T00:01:44.144Z,1611792104.144 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-01-28T00:01:44.146Z,1611792104.146 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-01-28T00:01:44.173Z,1611792104.173 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-01-28T00:01:44.210Z,1611792104.210 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-01-28T00:01:44.221Z,1611792104.221 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-01-28T00:01:44.223Z,1611792104.223 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-01-28T00:01:44.231Z,1611792104.231 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-01-28T00:01:44.243Z,1611792104.243 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-01-28T00:01:44.257Z,1611792104.257 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-01-28T00:01:44.259Z,1611792104.259 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-01-28T00:01:44.266Z,1611792104.266 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-01-28T00:01:44.281Z,1611792104.281 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-01-28T00:01:44.283Z,1611792104.283 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-01-28T00:01:44.294Z,1611792104.294 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-01-28T00:01:44.304Z,1611792104.304 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-01-28T00:01:44.307Z,1611792104.307 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-01-28T00:01:44.317Z,1611792104.317 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-01-28T00:01:44.319Z,1611792104.319 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-01-28T00:01:44.348Z,1611792104.348 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-01-28T00:01:44.351Z,1611792104.351 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-01-28T00:01:44.377Z,1611792104.377 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-01-28T00:01:44.408Z,1611792104.408 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-01-28T00:01:44.410Z,1611792104.410 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-01-28T00:01:44.414Z,1611792104.414 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-01-28T00:01:44.437Z,1611792104.437 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-01-28T00:01:44.439Z,1611792104.439 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-01-28T00:01:44.462Z,1611792104.462 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-01-28T00:01:44.518Z,1611792104.518 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m
2021-01-28T00:01:44.533Z,1611792104.533 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-01-28T00:01:44.535Z,1611792104.535 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-01-28T00:01:44.554Z,1611792104.554 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-01-28T00:01:44.568Z,1611792104.568 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-01-28T00:01:44.571Z,1611792104.571 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-01-28T00:01:44.589Z,1611792104.589 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-01-28T00:01:44.604Z,1611792104.604 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-01-28T00:01:44.613Z,1611792104.613 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-01-28T00:01:44.615Z,1611792104.615 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-01-28T00:01:44.626Z,1611792104.626 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-01-28T00:01:44.640Z,1611792104.640 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-01-28T00:01:44.643Z,1611792104.643 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-01-28T00:01:44.661Z,1611792104.661 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-01-28T00:01:44.703Z,1611792104.703 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-28T00:01:44.750Z,1611792104.750 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-01-28T00:01:44.786Z,1611792104.786 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-28T00:01:44.820Z,1611792104.820 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-28T00:01:44.846Z,1611792104.846 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-28T00:01:44.925Z,1611792104.925 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-01-28T00:01:44.989Z,1611792104.989 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-01-28T00:01:44.991Z,1611792104.991 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-01-28T00:01:45.010Z,1611792105.010 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-01-28T00:01:45.011Z,1611792105.011 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-01-28T00:01:45.037Z,1611792105.037 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-01-28T00:01:45.051Z,1611792105.051 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-01-28T00:01:45.084Z,1611792105.084 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-01-28T00:01:45.236Z,1611792105.236 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-01-28T00:01:45.238Z,1611792105.238 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-01-28T00:01:45.249Z,1611792105.249 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-01-28T00:01:45.251Z,1611792105.251 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-01-28T00:01:45.261Z,1611792105.261 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-01-28T00:01:45.272Z,1611792105.272 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-01-28T00:01:45.274Z,1611792105.274 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-01-28T00:01:45.350Z,1611792105.350 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-01-28T00:01:45.435Z,1611792105.435 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-01-28T00:01:45.495Z,1611792105.495 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-01-28T00:01:45.506Z,1611792105.506 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-01-28T00:01:45.518Z,1611792105.518 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-01-28T00:01:45.553Z,1611792105.553 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-01-28T00:01:46.005Z,1611792106.005 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552000 arcdeg
2021-01-28T00:01:46.008Z,1611792106.008 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.709610 arcdeg
2021-01-28T00:01:46.010Z,1611792106.010 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-01-28T00:01:46.017Z,1611792106.017 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-01-28T00:01:46.019Z,1611792106.019 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-01-28T00:01:46.022Z,1611792106.022 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-01-28T00:01:46.028Z,1611792106.028 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-01-28T00:01:46.031Z,1611792106.031 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-01-28T00:01:46.033Z,1611792106.033 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-01-28T00:01:46.040Z,1611792106.040 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-01-28T00:01:46.042Z,1611792106.042 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-01-28T00:01:46.044Z,1611792106.044 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-01-28T00:01:46.046Z,1611792106.046 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-01-28T00:01:46.053Z,1611792106.053 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-01-28T00:01:46.055Z,1611792106.055 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-01-28T00:01:46.089Z,1611792106.089 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-01-28T00:01:46.091Z,1611792106.091 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-01-28T00:01:46.143Z,1611792106.143 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-01-28T00:01:46.186Z,1611792106.186 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-01-28T00:01:46.214Z,1611792106.214 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-01-28T00:01:46.233Z,1611792106.233 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-01-28T00:01:46.235Z,1611792106.235 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-01-28T00:01:46.261Z,1611792106.261 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-01-28T00:01:46.272Z,1611792106.272 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-01-28T00:01:46.274Z,1611792106.274 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-01-28T00:01:46.285Z,1611792106.285 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-01-28T00:01:46.309Z,1611792106.309 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-01-28T00:01:46.377Z,1611792106.377 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-01-28T00:01:46.400Z,1611792106.400 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-01-28T00:01:46.402Z,1611792106.402 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-01-28T00:01:46.403Z,1611792106.403 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-01-28T00:01:46.425Z,1611792106.425 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-01-28T00:01:46.448Z,1611792106.448 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-01-28T00:01:46.487Z,1611792106.487 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-01-28T00:01:46.498Z,1611792106.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-01-28T00:01:46.586Z,1611792106.586 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-01-28T00:01:46.586Z,1611792106.586 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-01-28T00:01:46.665Z,1611792106.665 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-01-28T00:01:46.667Z,1611792106.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-01-28T00:01:46.700Z,1611792106.700 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-01-28T00:01:46.729Z,1611792106.729 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2021-01-28T00:01:46.785Z,1611792106.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-01-28T00:01:46.811Z,1611792106.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-01-28T00:01:46.835Z,1611792106.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-01-28T00:01:46.835Z,1611792106.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-28T00:01:46.847Z,1611792106.847 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-01-28T00:01:46.869Z,1611792106.869 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-01-28T00:01:46.988Z,1611792106.988 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552000 arcdeg
2021-01-28T00:01:46.991Z,1611792106.991 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.709610 arcdeg
2021-01-28T00:01:47.005Z,1611792107.005 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-01-28T00:01:47.024Z,1611792107.024 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-01-28T00:01:47.042Z,1611792107.042 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-01-28T00:01:47.087Z,1611792107.087 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct.
2021-01-28T00:01:47.087Z,1611792107.087 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2021-01-28T00:01:47.120Z,1611792107.120 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2021-01-28T00:01:47.120Z,1611792107.120 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2021-01-28T00:01:47.259Z,1611792107.259 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Dock="Tethys/Dock"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="lineCaptureDepth">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data (4) Dock: final approach using fixed heading.
    </Description>

    <!-- Define mission arguments -->

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

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

    <!-- Micromodem comms -->

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

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

    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
        <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:TrackAcousticContact>

    <!-- Add LineCapture directives. -->

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

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

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

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

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

    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

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

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

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

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

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

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

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

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

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

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

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

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Mission>


2021-01-28T00:01:47.259Z,1611792107.259 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-01-28T00:02:00.862Z,1611792120.862 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 1.250000 hour
2021-01-28T00:02:00.863Z,1611792120.863 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute
2021-01-28T00:02:00.863Z,1611792120.863 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 7.000000 count
2021-01-28T00:02:00.864Z,1611792120.864 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-01-28T00:02:05.243Z,1611792125.243 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-01-28T00:02:05.248Z,1611792125.248 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter
2021-01-28T00:02:05.249Z,1611792125.249 [CommandLine](IMPORTANT): got command run
2021-01-28T00:02:05.250Z,1611792125.250 [CommandLine](IMPORTANT): Running 
2021-01-28T00:02:05.623Z,1611792125.623 [DefaultWithUndock] Stopped
2021-01-28T00:02:05.623Z,1611792125.623 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-01-28T00:02:05.623Z,1611792125.623 [DefaultWithUndock:SurfaceDefault] Stopped
2021-01-28T00:02:05.623Z,1611792125.623 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-01-28T00:02:05.623Z,1611792125.623 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-01-28T00:02:05.623Z,1611792125.623 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-01-28T00:02:05.623Z,1611792125.623 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-28T00:02:05.624Z,1611792125.624 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-28T00:02:05.624Z,1611792125.624 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-28T00:02:05.624Z,1611792125.624 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-28T00:02:05.624Z,1611792125.624 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-01-28T00:02:05.624Z,1611792125.624 [lineCaptureDepth] Running Loop=1
2021-01-28T00:02:05.624Z,1611792125.624 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:A] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:B] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:C] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:D] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:E] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:F] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-01-28T00:02:05.625Z,1611792125.625 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-01-28T00:02:05.626Z,1611792125.626 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-28T00:02:05.627Z,1611792125.627 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-01-28T00:02:05.627Z,1611792125.627 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-01-28T00:02:05.627Z,1611792125.627 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-01-28T00:02:05.627Z,1611792125.627 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-01-28T00:02:05.627Z,1611792125.627 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-01-28T00:02:05.628Z,1611792125.628 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-01-28T00:02:05.628Z,1611792125.628 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-01-28T00:02:05.628Z,1611792125.628 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-28T00:02:05.629Z,1611792125.629 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-01-28T00:02:05.629Z,1611792125.629 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-01-28T00:02:05.629Z,1611792125.629 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-01-28T00:02:05.629Z,1611792125.629 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-28T00:02:05.630Z,1611792125.630 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-01-28T00:02:05.630Z,1611792125.630 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-01-28T00:02:05.631Z,1611792125.631 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-01-28T00:02:05.631Z,1611792125.631 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-28T00:02:05.632Z,1611792125.632 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-01-28T00:02:05.632Z,1611792125.632 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-01-28T00:02:05.632Z,1611792125.632 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-01-28T00:02:05.632Z,1611792125.632 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-01-28T00:02:05.632Z,1611792125.632 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-01-28T00:02:05.632Z,1611792125.632 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-28T00:02:05.633Z,1611792125.633 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-28T00:02:05.634Z,1611792125.634 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T00:02:05.634Z,1611792125.634 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-28T00:02:05.634Z,1611792125.634 [lineCaptureDepth:J.] Running Loop=1
2021-01-28T00:02:05.634Z,1611792125.634 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact.
2021-01-28T00:02:05.634Z,1611792125.634 [lineCaptureDepth:C] Running Loop=1
2021-01-28T00:02:05.635Z,1611792125.635 [lineCaptureDepth:J.] Running Loop=1
2021-01-28T00:02:05.635Z,1611792125.635 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-28T00:02:05.636Z,1611792125.636 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-28T00:02:05.636Z,1611792125.636 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-28T00:02:05.636Z,1611792125.636 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T00:02:05.636Z,1611792125.636 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-28T00:02:05.636Z,1611792125.636 [lineCaptureDepth:C] Stopped
2021-01-28T00:02:05.636Z,1611792125.636 [lineCaptureDepth:D] Running Loop=1
2021-01-28T00:02:05.637Z,1611792125.637 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-01-28T00:02:05.637Z,1611792125.637 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-28T00:02:05.637Z,1611792125.637 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-28T00:02:05.637Z,1611792125.637 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-28T00:02:05.638Z,1611792125.638 [lineCaptureDepth:Science] Running Loop=1
2021-01-28T00:02:05.638Z,1611792125.638 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-28T00:02:05.639Z,1611792125.639 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-01-28T00:02:05.660Z,1611792125.660 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-01-28T00:02:05.660Z,1611792125.660 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-01-28T00:02:05.660Z,1611792125.660 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-01-28T00:02:05.660Z,1611792125.660 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-01-28T00:02:05.660Z,1611792125.660 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-01-28T00:02:05.660Z,1611792125.660 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-01-28T00:02:05.660Z,1611792125.660 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-28T00:02:05.660Z,1611792125.660 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-01-28T00:02:05.661Z,1611792125.661 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-01-28T00:02:05.662Z,1611792125.662 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-01-28T00:02:05.662Z,1611792125.662 [lineCaptureDepth:Science:F] Stopped
2021-01-28T00:02:05.662Z,1611792125.662 [lineCaptureDepth:Science:E] Stopped
2021-01-28T00:02:05.662Z,1611792125.662 [lineCaptureDepth:Science:D] Stopped
2021-01-28T00:02:05.662Z,1611792125.662 [lineCaptureDepth:Science:C] Running Loop=1
2021-01-28T00:02:05.663Z,1611792125.663 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-01-28T00:02:05.663Z,1611792125.663 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-01-28T00:02:05.663Z,1611792125.663 [lineCaptureDepth:Science:B] Running Loop=1
2021-01-28T00:02:05.664Z,1611792125.664 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-01-28T00:02:05.664Z,1611792125.664 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-01-28T00:02:05.665Z,1611792125.665 [lineCaptureDepth:Science:A] Stopped
2021-01-28T00:02:05.700Z,1611792125.700 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-01-28T00:02:06.021Z,1611792126.021 [lineCaptureDepth:D] Stopped
2021-01-28T00:02:06.022Z,1611792126.022 [lineCaptureDepth:E] Running Loop=1
2021-01-28T00:02:06.480Z,1611792126.480 [lineCaptureDepth:E] Stopped
2021-01-28T00:02:06.480Z,1611792126.480 [lineCaptureDepth:G] Running Loop=1
2021-01-28T00:02:06.816Z,1611792126.816 [lineCaptureDepth:G] Stopped
2021-01-28T00:02:06.818Z,1611792126.818 [lineCaptureDepth:H] Running Loop=1
2021-01-28T00:02:07.235Z,1611792127.235 [lineCaptureDepth:H] Stopped
2021-01-28T00:02:07.235Z,1611792127.235 [lineCaptureDepth:L] Running Loop=1
2021-01-28T00:02:07.661Z,1611792127.661 [lineCaptureDepth:L] Stopped
2021-01-28T00:02:07.661Z,1611792127.661 [lineCaptureDepth:M] Running Loop=1
2021-01-28T00:02:08.038Z,1611792128.038 [lineCaptureDepth:M] Stopped
2021-01-28T00:02:08.038Z,1611792128.038 [lineCaptureDepth:N] Running Loop=1
2021-01-28T00:02:08.452Z,1611792128.452 [lineCaptureDepth:N] Stopped
2021-01-28T00:02:08.452Z,1611792128.452 [lineCaptureDepth:Lap] Running Loop=1
2021-01-28T00:02:08.452Z,1611792128.452 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-01-28T00:02:08.452Z,1611792128.452 [lineCaptureDepth:Lap:A] Running Loop=1
2021-01-28T00:02:08.453Z,1611792128.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:08.858Z,1611792128.858 [lineCaptureDepth:Lap:A] Stopped
2021-01-28T00:02:08.859Z,1611792128.859 [lineCaptureDepth:Lap:B] Running Loop=1
2021-01-28T00:02:08.859Z,1611792128.859 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-01-28T00:02:09.041Z,1611792129.041 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-01-28T00:02:09.222Z,1611792129.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:09.289Z,1611792129.289 [lineCaptureDepth:LineCapture] Running Loop=1
2021-01-28T00:02:09.289Z,1611792129.289 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-01-28T00:02:09.289Z,1611792129.289 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-01-28T00:02:09.290Z,1611792129.290 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-01-28T00:02:09.290Z,1611792129.290 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-28T00:02:09.290Z,1611792129.290 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-01-28T00:02:09.290Z,1611792129.290 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-28T00:02:09.290Z,1611792129.290 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-01-28T00:02:09.291Z,1611792129.291 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-28T00:02:09.291Z,1611792129.291 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-01-28T00:02:09.291Z,1611792129.291 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-01-28T00:02:09.291Z,1611792129.291 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-01-28T00:02:09.291Z,1611792129.291 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-28T00:02:09.291Z,1611792129.291 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-28T00:02:09.296Z,1611792129.296 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-28T00:02:09.296Z,1611792129.296 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-28T00:02:09.296Z,1611792129.296 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-01-28T00:02:09.297Z,1611792129.297 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-28T00:02:09.297Z,1611792129.297 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-01-28T00:02:09.297Z,1611792129.297 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-01-28T00:02:09.298Z,1611792129.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-01-28T00:02:09.298Z,1611792129.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-28T00:02:09.298Z,1611792129.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-01-28T00:02:09.298Z,1611792129.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-01-28T00:02:09.298Z,1611792129.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-01-28T00:02:09.298Z,1611792129.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-01-28T00:02:09.299Z,1611792129.299 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-01-28T00:02:09.299Z,1611792129.299 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-01-28T00:02:09.299Z,1611792129.299 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-01-28T00:02:09.305Z,1611792129.305 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-01-28T00:02:09.305Z,1611792129.305 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-28T00:02:09.305Z,1611792129.305 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-28T00:02:09.306Z,1611792129.306 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-28T00:02:09.307Z,1611792129.307 [lineCaptureDepth:LineCapture:A] Stopped
2021-01-28T00:02:09.307Z,1611792129.307 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-01-28T00:02:09.624Z,1611792129.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:09.690Z,1611792129.690 [lineCaptureDepth:LineCapture:B] Stopped
2021-01-28T00:02:09.690Z,1611792129.690 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-01-28T00:02:10.046Z,1611792130.046 [lineCaptureDepth:LineCapture:D] Stopped
2021-01-28T00:02:10.047Z,1611792130.047 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-01-28T00:02:10.438Z,1611792130.438 [Micromodem](INFO): Nmea in: $SNTTA,0.206536,,,,000210.97*49

2021-01-28T00:02:10.461Z,1611792130.461 [lineCaptureDepth:LineCapture:E] Stopped
2021-01-28T00:02:10.462Z,1611792130.462 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-01-28T00:02:10.879Z,1611792130.879 [lineCaptureDepth:LineCapture:F] Stopped
2021-01-28T00:02:10.879Z,1611792130.879 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-01-28T00:02:10.879Z,1611792130.879 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-01-28T00:02:10.879Z,1611792130.879 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-01-28T00:02:10.880Z,1611792130.880 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-28T00:02:10.880Z,1611792130.880 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-01-28T00:02:10.880Z,1611792130.880 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-28T00:02:10.880Z,1611792130.880 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-01-28T00:02:10.880Z,1611792130.880 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-01-28T00:02:10.880Z,1611792130.880 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-01-28T00:02:10.881Z,1611792130.881 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-28T00:02:10.881Z,1611792130.881 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-28T00:02:10.881Z,1611792130.881 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-01-28T00:02:10.881Z,1611792130.881 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-28T00:02:10.881Z,1611792130.881 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-28T00:02:10.881Z,1611792130.881 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-01-28T00:02:10.881Z,1611792130.881 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-28T00:02:10.882Z,1611792130.882 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-01-28T00:02:10.882Z,1611792130.882 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-01-28T00:02:10.882Z,1611792130.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-28T00:02:10.882Z,1611792130.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-28T00:02:10.882Z,1611792130.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-01-28T00:02:10.882Z,1611792130.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-28T00:02:10.882Z,1611792130.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-28T00:02:10.882Z,1611792130.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-01-28T00:02:10.883Z,1611792130.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-28T00:02:10.883Z,1611792130.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-28T00:02:10.883Z,1611792130.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-01-28T00:02:11.258Z,1611792131.258 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-01-28T00:02:11.259Z,1611792131.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-28T00:02:11.259Z,1611792131.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-01-28T00:02:11.259Z,1611792131.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-28T00:02:11.259Z,1611792131.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-01-28T00:02:11.259Z,1611792131.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-01-28T00:02:11.259Z,1611792131.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-01-28T00:02:11.259Z,1611792131.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-01-28T00:02:11.259Z,1611792131.259 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-01-28T00:02:11.261Z,1611792131.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:11.649Z,1611792131.649 [PowerOnly](INFO): Powering up loadControl
2021-01-28T00:02:12.528Z,1611792132.528 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-01-28T00:02:12.885Z,1611792132.885 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:02:12.915Z,1611792132.915 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-01-28T00:02:14.140Z,1611792134.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:14.910Z,1611792134.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:15.316Z,1611792135.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:16.152Z,1611792136.152 [Micromodem](INFO): Nmea in: $SNTTA,0.207300,,,,000216.66*43

2021-01-28T00:02:18.985Z,1611792138.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:19.754Z,1611792139.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:20.160Z,1611792140.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:20.995Z,1611792140.995 [Micromodem](INFO): Nmea in: $SNTTA,0.207916,,,,000221.50*4F

2021-01-28T00:02:21.804Z,1611792141.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:23.401Z,1611792143.401 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:02:24.642Z,1611792144.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:25.434Z,1611792145.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:25.824Z,1611792145.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:26.638Z,1611792146.638 [Micromodem](INFO): Nmea in: $SNTTA,0.208671,,,0.211184,000227.18*55

2021-01-28T00:02:29.512Z,1611792149.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:30.266Z,1611792150.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:30.664Z,1611792150.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:31.497Z,1611792151.497 [Micromodem](INFO): Nmea in: $SNTTA,0.209597,,,0.212109,000232.01*55

2021-01-28T00:02:33.118Z,1611792153.118 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 314.34 m. Transitioning DDM to standby.
2021-01-28T00:02:34.351Z,1611792154.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:35.106Z,1611792155.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:35.516Z,1611792155.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:36.338Z,1611792156.338 [Micromodem](INFO): Nmea in: $SNTTA,0.209815,,,,000236.85*4D

2021-01-28T00:02:37.168Z,1611792157.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:38.741Z,1611792158.741 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:02:39.989Z,1611792159.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:40.770Z,1611792160.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:41.180Z,1611792161.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:42.016Z,1611792162.016 [Micromodem](INFO): Nmea in: $SNTTA,0.210576,,,,000242.52*44

2021-01-28T00:02:42.847Z,1611792162.847 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-01-28T00:02:43.272Z,1611792163.272 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-01-28T00:02:43.272Z,1611792163.272 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-01-28T00:02:43.272Z,1611792163.272 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-01-28T00:02:43.594Z,1611792163.594 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-01-28T00:02:43.594Z,1611792163.594 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-01-28T00:02:43.594Z,1611792163.594 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-01-28T00:02:44.030Z,1611792164.030 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-01-28T00:02:44.030Z,1611792164.030 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-28T00:02:44.030Z,1611792164.030 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-01-28T00:02:44.030Z,1611792164.030 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-28T00:02:44.031Z,1611792164.031 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-28T00:02:44.448Z,1611792164.448 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-28T00:02:44.448Z,1611792164.448 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-28T00:02:44.448Z,1611792164.448 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-01-28T00:02:44.448Z,1611792164.448 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-28T00:02:44.449Z,1611792164.449 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-28T00:02:44.449Z,1611792164.449 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-01-28T00:02:44.449Z,1611792164.449 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-28T00:02:44.449Z,1611792164.449 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-01-28T00:02:44.449Z,1611792164.449 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-01-28T00:02:44.449Z,1611792164.449 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-28T00:02:44.449Z,1611792164.449 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-28T00:02:44.450Z,1611792164.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-28T00:02:44.450Z,1611792164.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-01-28T00:02:44.450Z,1611792164.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-28T00:02:44.450Z,1611792164.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-01-28T00:02:44.451Z,1611792164.451 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 315.779999 m 
2021-01-28T00:02:44.451Z,1611792164.451 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-01-28T00:02:44.451Z,1611792164.451 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-01-28T00:02:44.452Z,1611792164.452 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552000 arcdeg , -70.709610 arcdeg )
2021-01-28T00:02:44.452Z,1611792164.452 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-01-28T00:02:44.453Z,1611792164.453 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-01-28T00:02:44.453Z,1611792164.453 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-01-28T00:02:44.794Z,1611792164.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-01-28T00:02:44.794Z,1611792164.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-28T00:02:44.794Z,1611792164.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-01-28T00:02:44.794Z,1611792164.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-28T00:02:44.794Z,1611792164.794 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-28T00:02:44.794Z,1611792164.794 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-28T00:02:44.794Z,1611792164.794 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-28T00:02:44.794Z,1611792164.794 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-28T00:02:44.795Z,1611792164.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-01-28T00:02:44.795Z,1611792164.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-28T00:02:44.795Z,1611792164.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-01-28T00:02:44.795Z,1611792164.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-28T00:02:44.795Z,1611792164.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-28T00:02:44.795Z,1611792164.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-28T00:02:44.795Z,1611792164.795 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-28T00:02:44.797Z,1611792164.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-01-28T00:02:45.265Z,1611792165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-28T00:02:45.266Z,1611792165.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-28T00:02:45.266Z,1611792165.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-28T00:02:45.266Z,1611792165.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-28T00:02:45.267Z,1611792165.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-01-28T00:02:45.267Z,1611792165.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-01-28T00:02:45.267Z,1611792165.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-01-28T00:02:45.267Z,1611792165.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-01-28T00:02:45.267Z,1611792165.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-01-28T00:02:45.267Z,1611792165.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-28T00:02:45.272Z,1611792165.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-01-28T00:02:45.272Z,1611792165.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-01-28T00:02:45.273Z,1611792165.273 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-01-28T00:02:45.578Z,1611792165.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:45.698Z,1611792165.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.779999 m, bearing: 284.539424 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-28T00:02:45.699Z,1611792165.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 284.539424deg and heading rate command to 0 deg/s.
2021-01-28T00:02:46.001Z,1611792166.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:46.884Z,1611792166.884 [Micromodem](INFO): Nmea in: $SNTTA,0.211103,,,,000247.33*41

2021-01-28T00:02:47.360Z,1611792167.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.559998 m, bearing: 342.297498 deg, deltaT: 4.869059 s, approachRate: 0.160195 m/s, LOS rate: 11.862266 deg/s, posRepo size: 2
2021-01-28T00:02:47.362Z,1611792167.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.862266 deg/s. Setting heading cmd to target bearing of 342.297498deg and heading rate command to 0 deg/s.
2021-01-28T00:02:49.753Z,1611792169.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:50.539Z,1611792170.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:50.944Z,1611792170.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:51.776Z,1611792171.776 [Micromodem](INFO): Nmea in: $SNTTA,0.211731,,,0.214249,000252.29*5F

2021-01-28T00:02:52.240Z,1611792172.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.519989 m, bearing: 281.852565 deg, deltaT: 4.950652 s, approachRate: 0.193912 m/s, LOS rate: -12.209490 deg/s, posRepo size: 3
2021-01-28T00:02:52.242Z,1611792172.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.209490 deg/s. Setting heading cmd to target bearing of 281.852565deg and heading rate command to 0 deg/s.
2021-01-28T00:02:54.608Z,1611792174.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:02:55.401Z,1611792175.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:02:55.788Z,1611792175.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:02:56.614Z,1611792176.614 [Micromodem](INFO): Nmea in: $SNTTA,0.212112,,,,000257.15*47

2021-01-28T00:02:57.038Z,1611792177.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.119995 m, bearing: 350.192569 deg, deltaT: 4.789221 s, approachRate: 0.125283 m/s, LOS rate: 14.269545 deg/s, posRepo size: 4
2021-01-28T00:02:57.038Z,1611792177.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.269545 deg/s. Setting heading cmd to target bearing of 350.192569deg and heading rate command to 0 deg/s.
2021-01-28T00:02:59.502Z,1611792179.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:00.230Z,1611792180.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:00.684Z,1611792180.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:01.488Z,1611792181.488 [Micromodem](INFO): Nmea in: $SNTTA,0.212054,,,,000301.98*43

2021-01-28T00:03:01.929Z,1611792181.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.939972 m, bearing: 29.077143 deg, deltaT: 4.917243 s, approachRate: -0.036611 m/s, LOS rate: 7.907802 deg/s, posRepo size: 4
2021-01-28T00:03:01.931Z,1611792181.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.939972 m,
      bearing: 29.077143 deg,
      approachRate: -0.036611 m/s,
      LOS rate: 7.907802 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 350.192569 deg,
      new cmd heading: 350.192569 deg.

2021-01-28T00:03:04.370Z,1611792184.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:05.118Z,1611792185.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:05.532Z,1611792185.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:06.375Z,1611792186.375 [Micromodem](INFO): Nmea in: $SNTTA,0.211610,,,,000306.86*4E

2021-01-28T00:03:06.811Z,1611792186.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.279999 m, bearing: 24.749920 deg, deltaT: 4.916376 s, approachRate: -0.134240 m/s, LOS rate: -0.880165 deg/s, posRepo size: 4
2021-01-28T00:03:06.815Z,1611792186.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.279999 m,
      bearing: 24.749920 deg,
      approachRate: -0.134240 m/s,
      LOS rate: -0.880165 deg/s,
      cmd update: -3.520661 deg/s,
      cmd heading: 49.465047 deg,
      new cmd heading: 53.580867 deg.

2021-01-28T00:03:09.280Z,1611792189.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:10.042Z,1611792190.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:10.454Z,1611792190.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:11.276Z,1611792191.276 [Micromodem](INFO): Nmea in: $SNTTA,0.210680,,,,000311.79*40

2021-01-28T00:03:11.708Z,1611792191.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.839996 m, bearing: 28.468351 deg, deltaT: 4.818363 s, approachRate: -0.298857 m/s, LOS rate: 0.771721 deg/s, posRepo size: 4
2021-01-28T00:03:11.710Z,1611792191.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.839996 m,
      bearing: 28.468351 deg,
      approachRate: -0.298857 m/s,
      LOS rate: 0.771721 deg/s,
      cmd update: 3.086884 deg/s,
      cmd heading: 32.486330 deg,
      new cmd heading: 31.016908 deg.

2021-01-28T00:03:14.123Z,1611792194.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:14.904Z,1611792194.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:15.306Z,1611792195.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:16.144Z,1611792196.144 [Micromodem](INFO): Nmea in: $SNTTA,0.209328,,,0.211842,000316.65*57

2021-01-28T00:03:16.578Z,1611792196.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.739990 m, bearing: 30.102628 deg, deltaT: 4.928997 s, approachRate: -0.426051 m/s, LOS rate: 0.331564 deg/s, posRepo size: 4
2021-01-28T00:03:16.580Z,1611792196.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.739990 m,
      bearing: 30.102628 deg,
      approachRate: -0.426051 m/s,
      LOS rate: 0.331564 deg/s,
      cmd update: 1.326255 deg/s,
      cmd heading: 47.689240 deg,
      new cmd heading: 48.806442 deg.

2021-01-28T00:03:18.960Z,1611792198.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:19.443Z,1611792199.443 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T00:03:19.750Z,1611792199.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:20.160Z,1611792200.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:21.006Z,1611792201.006 [Micromodem](INFO): Nmea in: $SNTTA,0.207974,,,,000321.50*4A

2021-01-28T00:03:21.431Z,1611792201.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.759979 m, bearing: 24.213471 deg, deltaT: 4.803707 s, approachRate: -0.412184 m/s, LOS rate: -1.225961 deg/s, posRepo size: 4
2021-01-28T00:03:21.433Z,1611792201.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.759979 m,
      bearing: 24.213471 deg,
      approachRate: -0.412184 m/s,
      LOS rate: -1.225961 deg/s,
      cmd update: -4.903843 deg/s,
      cmd heading: 54.065195 deg,
      new cmd heading: 54.605755 deg.

2021-01-28T00:03:23.834Z,1611792203.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:24.606Z,1611792204.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:25.006Z,1611792205.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:25.835Z,1611792205.835 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000326.35*5F

2021-01-28T00:03:26.293Z,1611792206.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.899994 m, bearing: 22.852196 deg, deltaT: 4.853564 s, approachRate: -0.383221 m/s, LOS rate: -0.280469 deg/s, posRepo size: 4
2021-01-28T00:03:26.295Z,1611792206.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.899994 m,
      bearing: 22.852196 deg,
      approachRate: -0.383221 m/s,
      LOS rate: -0.280469 deg/s,
      cmd update: -1.121877 deg/s,
      cmd heading: 30.381623 deg,
      new cmd heading: 28.303909 deg.

2021-01-28T00:03:28.690Z,1611792208.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:29.487Z,1611792209.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:29.963Z,1611792209.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:30.772Z,1611792210.772 [Micromodem](INFO): Nmea in: $SNTTA,0.205298,,,,000331.24*43

2021-01-28T00:03:31.239Z,1611792211.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.739990 m, bearing: 21.562393 deg, deltaT: 4.936960 s, approachRate: -0.437517 m/s, LOS rate: -0.261254 deg/s, posRepo size: 4
2021-01-28T00:03:31.265Z,1611792211.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.739990 m,
      bearing: 21.562393 deg,
      approachRate: -0.437517 m/s,
      LOS rate: -0.261254 deg/s,
      cmd update: -1.045018 deg/s,
      cmd heading: 24.815912 deg,
      new cmd heading: 24.338919 deg.

2021-01-28T00:03:33.678Z,1611792213.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:34.454Z,1611792214.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:34.868Z,1611792214.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:35.692Z,1611792215.692 [Micromodem](INFO): Nmea in: $SNTTA,0.204068,,,,000336.20*4C

2021-01-28T00:03:36.116Z,1611792216.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.879974 m, bearing: 24.189496 deg, deltaT: 4.977402 s, approachRate: -0.373692 m/s, LOS rate: 0.527806 deg/s, posRepo size: 4
2021-01-28T00:03:36.118Z,1611792216.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.879974 m,
      bearing: 24.189496 deg,
      approachRate: -0.373692 m/s,
      LOS rate: 0.527806 deg/s,
      cmd update: 2.111224 deg/s,
      cmd heading: 19.623096 deg,
      new cmd heading: 19.275756 deg.

2021-01-28T00:03:38.609Z,1611792218.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:39.314Z,1611792219.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:39.712Z,1611792219.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:40.572Z,1611792220.572 [Micromodem](INFO): Nmea in: $SNTTA,0.202626,,,,000341.06*42

2021-01-28T00:03:40.967Z,1611792220.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.660004 m, bearing: 26.613661 deg, deltaT: 4.887759 s, approachRate: -0.454190 m/s, LOS rate: 0.495967 deg/s, posRepo size: 4
2021-01-28T00:03:40.969Z,1611792220.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.660004 m,
      bearing: 26.613661 deg,
      approachRate: -0.454190 m/s,
      LOS rate: 0.495967 deg/s,
      cmd update: 1.983867 deg/s,
      cmd heading: 29.942659 deg,
      new cmd heading: 30.566627 deg.

2021-01-28T00:03:42.953Z,1611792222.953 [PowerOnly](INFO): Powering down loadControl
2021-01-28T00:03:43.424Z,1611792223.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:44.154Z,1611792224.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:44.569Z,1611792224.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:45.412Z,1611792225.412 [Micromodem](INFO): Nmea in: $SNTTA,0.201360,,,,000345.90*4D

2021-01-28T00:03:45.803Z,1611792225.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.859985 m, bearing: 29.009972 deg, deltaT: 4.835476 s, approachRate: -0.372253 m/s, LOS rate: 0.495569 deg/s, posRepo size: 4
2021-01-28T00:03:45.805Z,1611792225.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.859985 m,
      bearing: 29.009972 deg,
      approachRate: -0.372253 m/s,
      LOS rate: 0.495569 deg/s,
      cmd update: 1.982275 deg/s,
      cmd heading: 39.535823 deg,
      new cmd heading: 40.124589 deg.

2021-01-28T00:03:48.216Z,1611792228.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:49.004Z,1611792229.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:49.443Z,1611792229.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:50.248Z,1611792230.248 [Micromodem](INFO): Nmea in: $SNTTA,0.200266,,,,000350.75*44

2021-01-28T00:03:50.707Z,1611792230.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.179993 m, bearing: 29.385629 deg, deltaT: 4.752135 s, approachRate: -0.353524 m/s, LOS rate: 0.079050 deg/s, posRepo size: 4
2021-01-28T00:03:50.709Z,1611792230.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.179993 m,
      bearing: 29.385629 deg,
      approachRate: -0.353524 m/s,
      LOS rate: 0.079050 deg/s,
      cmd update: 0.316201 deg/s,
      cmd heading: 48.963639 deg,
      new cmd heading: 49.843900 deg.

2021-01-28T00:03:53.078Z,1611792233.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:53.866Z,1611792233.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:54.272Z,1611792234.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:03:55.180Z,1611792235.180 [Micromodem](INFO): Nmea in: $SNTTA,0.198912,,,,000355.61*4E

2021-01-28T00:03:55.743Z,1611792235.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.199982 m, bearing: 23.852757 deg, deltaT: 4.969020 s, approachRate: -0.398471 m/s, LOS rate: -1.113473 deg/s, posRepo size: 4
2021-01-28T00:03:55.753Z,1611792235.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.199982 m,
      bearing: 23.852757 deg,
      approachRate: -0.398471 m/s,
      LOS rate: -1.113473 deg/s,
      cmd update: -4.453894 deg/s,
      cmd heading: 50.533541 deg,
      new cmd heading: 50.696449 deg.

2021-01-28T00:03:58.028Z,1611792238.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:03:58.794Z,1611792238.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:03:59.220Z,1611792239.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:00.036Z,1611792240.036 [Micromodem](INFO): Nmea in: $SNTTA,0.197949,,,,000400.54*4E

2021-01-28T00:04:00.482Z,1611792240.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 296.160004 m, bearing: 24.800705 deg, deltaT: 4.819539 s, approachRate: -0.423272 m/s, LOS rate: 0.196689 deg/s, posRepo size: 4
2021-01-28T00:04:00.485Z,1611792240.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.160004 m,
      bearing: 24.800705 deg,
      approachRate: -0.423272 m/s,
      LOS rate: 0.196689 deg/s,
      cmd update: 0.786754 deg/s,
      cmd heading: 29.031812 deg,
      new cmd heading: 27.128997 deg.

2021-01-28T00:04:02.854Z,1611792242.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:03.646Z,1611792243.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:04.055Z,1611792244.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:04.504Z,1611792244.504 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-28T00:04:04.890Z,1611792244.890 [Micromodem](INFO): Nmea in: $SNTTA,0.196322,,,,000405.39*46

2021-01-28T00:04:05.283Z,1611792245.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.299988 m, bearing: 27.839373 deg, deltaT: 4.849218 s, approachRate: -0.383570 m/s, LOS rate: 0.626630 deg/s, posRepo size: 4
2021-01-28T00:04:05.285Z,1611792245.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.299988 m,
      bearing: 27.839373 deg,
      approachRate: -0.383570 m/s,
      LOS rate: 0.626630 deg/s,
      cmd update: 2.506522 deg/s,
      cmd heading: 32.846949 deg,
      new cmd heading: 33.145075 deg.

2021-01-28T00:04:07.731Z,1611792247.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:08.490Z,1611792248.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:08.892Z,1611792248.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:09.736Z,1611792249.736 [Micromodem](INFO): Nmea in: $SNTTA,0.194936,,,,000410.24*43

2021-01-28T00:04:10.131Z,1611792250.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.199982 m, bearing: 29.504587 deg, deltaT: 4.889325 s, approachRate: -0.429508 m/s, LOS rate: 0.340582 deg/s, posRepo size: 4
2021-01-28T00:04:10.149Z,1611792250.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.199982 m,
      bearing: 29.504587 deg,
      approachRate: -0.429508 m/s,
      LOS rate: 0.340582 deg/s,
      cmd update: 1.362326 deg/s,
      cmd heading: 45.042465 deg,
      new cmd heading: 45.948257 deg.

2021-01-28T00:04:12.565Z,1611792252.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:13.338Z,1611792253.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:13.748Z,1611792253.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:14.575Z,1611792254.575 [Micromodem](INFO): Nmea in: $SNTTA,0.193204,,,,000415.08*45

2021-01-28T00:04:15.011Z,1611792255.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.619995 m, bearing: 26.136982 deg, deltaT: 4.839418 s, approachRate: -0.533119 m/s, LOS rate: -0.695870 deg/s, posRepo size: 4
2021-01-28T00:04:15.013Z,1611792255.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.619995 m,
      bearing: 26.136982 deg,
      approachRate: -0.533119 m/s,
      LOS rate: -0.695870 deg/s,
      cmd update: -2.783479 deg/s,
      cmd heading: 51.640535 deg,
      new cmd heading: 52.182064 deg.

2021-01-28T00:04:17.445Z,1611792257.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:18.204Z,1611792258.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:18.607Z,1611792258.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:19.431Z,1611792259.431 [Micromodem](INFO): Nmea in: $SNTTA,0.191300,,,0.193808,000419.95*5F

2021-01-28T00:04:19.831Z,1611792259.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.739990 m, bearing: 22.269072 deg, deltaT: 4.856819 s, approachRate: -0.592982 m/s, LOS rate: -0.796388 deg/s, posRepo size: 4
2021-01-28T00:04:19.849Z,1611792259.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.739990 m,
      bearing: 22.269072 deg,
      approachRate: -0.592982 m/s,
      LOS rate: -0.796388 deg/s,
      cmd update: -3.185550 deg/s,
      cmd heading: 38.121563 deg,
      new cmd heading: 37.117890 deg.

2021-01-28T00:04:22.246Z,1611792262.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:23.050Z,1611792263.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:23.446Z,1611792263.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:24.280Z,1611792264.280 [Micromodem](INFO): Nmea in: $SNTTA,0.189349,,,,000424.80*44

2021-01-28T00:04:24.701Z,1611792264.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.160004 m, bearing: 27.015611 deg, deltaT: 4.839700 s, approachRate: -0.533088 m/s, LOS rate: 0.980751 deg/s, posRepo size: 4
2021-01-28T00:04:24.703Z,1611792264.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.160004 m,
      bearing: 27.015611 deg,
      approachRate: -0.533088 m/s,
      LOS rate: 0.980751 deg/s,
      cmd update: 3.923003 deg/s,
      cmd heading: 22.640877 deg,
      new cmd heading: 21.459130 deg.

2021-01-28T00:04:27.090Z,1611792267.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:27.882Z,1611792267.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:28.296Z,1611792268.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:29.116Z,1611792269.116 [Micromodem](INFO): Nmea in: $SNTTA,0.187394,,,,000429.63*4A

2021-01-28T00:04:29.546Z,1611792269.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.799988 m, bearing: 28.244572 deg, deltaT: 4.800971 s, approachRate: -0.699862 m/s, LOS rate: 0.255982 deg/s, posRepo size: 4
2021-01-28T00:04:29.548Z,1611792269.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.799988 m,
      bearing: 28.244572 deg,
      approachRate: -0.699862 m/s,
      LOS rate: 0.255982 deg/s,
      cmd update: 1.023927 deg/s,
      cmd heading: 41.475104 deg,
      new cmd heading: 43.103577 deg.

2021-01-28T00:04:29.753Z,1611792269.753 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251728
2021-01-28T00:04:29.933Z,1611792269.933 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-28T00:04:29.934Z,1611792269.934 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-28T00:04:29.934Z,1611792269.934 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-28T00:04:29.934Z,1611792269.934 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T00:04:29.934Z,1611792269.934 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-28T00:04:29.934Z,1611792269.934 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-28T00:04:29.935Z,1611792269.935 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-01-28T00:04:30.431Z,1611792270.431 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA11602B0000005D00000400320000000000000000151D80030C5669BF527B606E4F3D130FD4D21054F2393D2603FBF345C8451C502DE9D64CB97B175D3372
2021-01-28T00:04:30.431Z,1611792270.431 [Micromodem](INFO): Outgoing frame #2, 6 bytes: AE1E75EBE000
2021-01-28T00:04:30.431Z,1611792270.431 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T00:04:30.733Z,1611792270.733 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T00:04:31.125Z,1611792271.125 [Micromodem](INFO): Nmea in: $CADRQ,000432,1,10,0,64,1*73

2021-01-28T00:04:31.125Z,1611792271.125 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA11602B0000005D00000400320000000000000000151D80030C5669BF527B606E4F3D130FD4D21054F2393D2603FBF345C8451C502DE9D64CB97B175D3372*48

2021-01-28T00:04:31.533Z,1611792271.533 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:04:31.940Z,1611792271.940 [Micromodem](INFO): Nmea in: $CADRQ,000432,1,10,0,64,2*70

2021-01-28T00:04:31.941Z,1611792271.941 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,AE1E75EBE000*49

2021-01-28T00:04:32.106Z,1611792272.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:32.382Z,1611792272.382 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-01-28T00:04:32.758Z,1611792272.758 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-01-28T00:04:32.759Z,1611792272.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:34.807Z,1611792274.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:35.186Z,1611792275.186 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-01-28T00:04:35.187Z,1611792275.187 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-01-28T00:04:35.587Z,1611792275.587 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,000433.665001,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4E

2021-01-28T00:04:35.587Z,1611792275.587 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,000433.665001,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4E

2021-01-28T00:04:37.631Z,1611792277.631 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-01-28T00:04:37.631Z,1611792277.631 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,Bad Modulation Header,0*31

2021-01-28T00:04:37.690Z,1611792277.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:38.014Z,1611792278.014 [Micromodem](INFO): Nmea in: $CACST,6,1,20210128000438.599149,06,197,22,0101,0150,59,01,01,00,04,-1,-01,-01,1,3,1,0,150,-4.4,6.00,00,-3.00,-01,9.17,45,14500,4000*5E

2021-01-28T00:04:38.015Z,1611792278.015 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20210128000438.599149,06,197,22,0101,0150,59,01,01,00,04,-1,-01,-01,1,3,1,0,150,-4.4,6.00,00,-3.00,-01,9.17,45,14500,4000*5E

2021-01-28T00:04:40.487Z,1611792280.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:43.304Z,1611792283.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:44.062Z,1611792284.062 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:44.484Z,1611792284.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:45.304Z,1611792285.304 [Micromodem](INFO): Nmea in: $SNTTA,0.180511,,,,000445.81*40

2021-01-28T00:04:45.759Z,1611792285.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.479980 m, bearing: 22.196993 deg, deltaT: 16.257039 s, approachRate: -0.634802 m/s, LOS rate: -0.371998 deg/s, posRepo size: 4
2021-01-28T00:04:45.761Z,1611792285.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.479980 m,
      bearing: 22.196993 deg,
      approachRate: -0.634802 m/s,
      LOS rate: -0.371998 deg/s,
      cmd update: -1.487990 deg/s,
      cmd heading: 58.118746 deg,
      new cmd heading: 58.501227 deg.

2021-01-28T00:04:48.142Z,1611792288.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:48.925Z,1611792288.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:49.346Z,1611792289.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:50.160Z,1611792290.160 [Micromodem](INFO): Nmea in: $SNTTA,0.178503,,,,000450.67*48

2021-01-28T00:04:50.616Z,1611792290.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.540009 m, bearing: 22.429156 deg, deltaT: 4.850287 s, approachRate: -0.606144 m/s, LOS rate: 0.047866 deg/s, posRepo size: 4
2021-01-28T00:04:50.618Z,1611792290.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.540009 m,
      bearing: 22.429156 deg,
      approachRate: -0.606144 m/s,
      LOS rate: 0.047866 deg/s,
      cmd update: 0.191464 deg/s,
      cmd heading: 50.897783 deg,
      new cmd heading: 50.335422 deg.

2021-01-28T00:04:52.978Z,1611792292.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:53.766Z,1611792293.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:54.194Z,1611792294.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:55.003Z,1611792295.003 [Micromodem](INFO): Nmea in: $SNTTA,0.176367,,,,000455.51*42

2021-01-28T00:04:55.544Z,1611792295.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.419983 m, bearing: 21.917647 deg, deltaT: 4.825366 s, approachRate: -0.646588 m/s, LOS rate: -0.106004 deg/s, posRepo size: 4
2021-01-28T00:04:55.546Z,1611792295.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.419983 m,
      bearing: 21.917647 deg,
      approachRate: -0.646588 m/s,
      LOS rate: -0.106004 deg/s,
      cmd update: -0.424017 deg/s,
      cmd heading: 51.820843 deg,
      new cmd heading: 51.913555 deg.

2021-01-28T00:04:57.595Z,1611792297.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:04:58.278Z,1611792298.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:04:58.728Z,1611792298.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:04:59.542Z,1611792299.542 [Micromodem](INFO): Nmea in: $SNTTA,0.174467,,,,000500.02*40

2021-01-28T00:05:00.432Z,1611792300.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:01.566Z,1611792301.566 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:05:02.456Z,1611792302.456 [Radio_Surface](INFO): Powering down
2021-01-28T00:05:03.247Z,1611792303.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:03.975Z,1611792303.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:04.416Z,1611792304.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:05.240Z,1611792305.240 [Micromodem](INFO): Nmea in: $SNTTA,0.171985,,,,000505.72*46

2021-01-28T00:05:05.665Z,1611792305.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.760010 m, bearing: 20.477003 deg, deltaT: 10.301528 s, approachRate: -0.646503 m/s, LOS rate: -0.139848 deg/s, posRepo size: 4
2021-01-28T00:05:05.667Z,1611792305.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 257.760010 m,
      bearing: 20.477003 deg,
      approachRate: -0.646503 m/s,
      LOS rate: -0.139848 deg/s,
      cmd update: -0.559390 deg/s,
      cmd heading: 47.464091 deg,
      new cmd heading: 47.323925 deg.

2021-01-28T00:05:05.900Z,1611792305.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-28T00:05:06.905Z,1611792306.905 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-01-28T00:05:08.105Z,1611792308.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:08.568Z,1611792308.568 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-01-28T00:05:08.847Z,1611792308.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:09.268Z,1611792309.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:10.091Z,1611792310.091 [Micromodem](INFO): Nmea in: $SNTTA,0.170046,,,,000510.60*46

2021-01-28T00:05:10.611Z,1611792310.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.819977 m, bearing: 22.483736 deg, deltaT: 4.804452 s, approachRate: -0.611939 m/s, LOS rate: 0.417682 deg/s, posRepo size: 4
2021-01-28T00:05:10.613Z,1611792310.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.819977 m,
      bearing: 22.483736 deg,
      approachRate: -0.611939 m/s,
      LOS rate: 0.417682 deg/s,
      cmd update: 1.670728 deg/s,
      cmd heading: 44.765392 deg,
      new cmd heading: 44.512509 deg.

2021-01-28T00:05:12.924Z,1611792312.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:13.729Z,1611792313.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:14.124Z,1611792314.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:14.946Z,1611792314.946 [Micromodem](INFO): Nmea in: $SNTTA,0.167846,,,,000515.47*48

2021-01-28T00:05:15.424Z,1611792315.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.579987 m, bearing: 22.965710 deg, deltaT: 4.937122 s, approachRate: -0.656251 m/s, LOS rate: 0.097622 deg/s, posRepo size: 4
2021-01-28T00:05:15.426Z,1611792315.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.579987 m,
      bearing: 22.965710 deg,
      approachRate: -0.656251 m/s,
      LOS rate: 0.097622 deg/s,
      cmd update: 0.390490 deg/s,
      cmd heading: 53.032009 deg,
      new cmd heading: 53.562728 deg.

2021-01-28T00:05:17.782Z,1611792317.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:18.565Z,1611792318.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:18.972Z,1611792318.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:19.804Z,1611792319.804 [Micromodem](INFO): Nmea in: $SNTTA,0.165636,,,,000520.31*44

2021-01-28T00:05:20.242Z,1611792320.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.279999 m, bearing: 22.275468 deg, deltaT: 4.714495 s, approachRate: -0.699966 m/s, LOS rate: -0.146408 deg/s, posRepo size: 4
2021-01-28T00:05:20.246Z,1611792320.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.279999 m,
      bearing: 22.275468 deg,
      approachRate: -0.699966 m/s,
      LOS rate: -0.146408 deg/s,
      cmd update: -0.585634 deg/s,
      cmd heading: 54.872295 deg,
      new cmd heading: 55.037372 deg.

2021-01-28T00:05:22.653Z,1611792322.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:23.414Z,1611792323.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:23.968Z,1611792323.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:24.785Z,1611792324.785 [Micromodem](INFO): Nmea in: $SNTTA,0.163701,,,,000525.16*47

2021-01-28T00:05:24.835Z,1611792324.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.339981 m, bearing: 20.305924 deg, deltaT: 4.608842 s, approachRate: -0.637908 m/s, LOS rate: -0.427340 deg/s, posRepo size: 4
2021-01-28T00:05:24.837Z,1611792324.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.339981 m,
      bearing: 20.305924 deg,
      approachRate: -0.637908 m/s,
      LOS rate: -0.427340 deg/s,
      cmd update: -1.709362 deg/s,
      cmd heading: 52.172104 deg,
      new cmd heading: 51.934751 deg.

2021-01-28T00:05:27.249Z,1611792327.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:27.997Z,1611792327.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:28.412Z,1611792328.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:29.260Z,1611792329.260 [Micromodem](INFO): Nmea in: $SNTTA,0.161957,,,,000529.74*40

2021-01-28T00:05:29.676Z,1611792329.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.759995 m, bearing: 20.498805 deg, deltaT: 4.943847 s, approachRate: -0.521858 m/s, LOS rate: 0.039014 deg/s, posRepo size: 4
2021-01-28T00:05:29.678Z,1611792329.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.759995 m,
      bearing: 20.498805 deg,
      approachRate: -0.521858 m/s,
      LOS rate: 0.039014 deg/s,
      cmd update: 0.156058 deg/s,
      cmd heading: 43.728073 deg,
      new cmd heading: 43.205240 deg.

2021-01-28T00:05:32.084Z,1611792332.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:32.860Z,1611792332.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:33.268Z,1611792333.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:34.088Z,1611792334.088 [Micromodem](INFO): Nmea in: $SNTTA,0.159931,,,,000534.61*43

2021-01-28T00:05:34.617Z,1611792334.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.759979 m, bearing: 20.767716 deg, deltaT: 4.768969 s, approachRate: -0.629070 m/s, LOS rate: 0.056388 deg/s, posRepo size: 4
2021-01-28T00:05:34.618Z,1611792334.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.759979 m,
      bearing: 20.767716 deg,
      approachRate: -0.629070 m/s,
      LOS rate: 0.056388 deg/s,
      cmd update: 0.225551 deg/s,
      cmd heading: 44.472900 deg,
      new cmd heading: 44.546828 deg.

2021-01-28T00:05:35.702Z,1611792335.702 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-28T00:05:36.191Z,1611792336.191 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA11602B0000005D00000400320000000000000000151D80030C5669BF527B606E4F3D130FD4D21054F2393D2603FBF345C8451C502DE9D64CB97B175D3372
2021-01-28T00:05:36.193Z,1611792336.193 [Micromodem](INFO): Outgoing frame #2, 6 bytes: AE1E75EBE000
2021-01-28T00:05:36.194Z,1611792336.194 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T00:05:36.505Z,1611792336.505 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T00:05:36.650Z,1611792336.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:36.910Z,1611792336.910 [Micromodem](INFO): Nmea in: $CADRQ,000537,1,10,0,64,1*77

2021-01-28T00:05:36.914Z,1611792336.914 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA11602B0000005D00000400320000000000000000151D80030C5669BF527B606E4F3D130FD4D21054F2393D2603FBF345C8451C502DE9D64CB97B175D3372*48

2021-01-28T00:05:37.313Z,1611792337.313 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:05:37.313Z,1611792337.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:37.714Z,1611792337.714 [Micromodem](INFO): Nmea in: $CADRQ,000538,1,10,0,64,2*7B

2021-01-28T00:05:37.715Z,1611792337.715 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,000538,1,10,0,64,2*7B

2021-01-28T00:05:38.112Z,1611792338.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:38.536Z,1611792338.536 [Micromodem](INFO): Nmea in: $SNTTA,0.158134,,,,000539.06*43

2021-01-28T00:05:38.956Z,1611792338.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.059982 m, bearing: 20.578084 deg, deltaT: 4.449131 s, approachRate: -0.606859 m/s, LOS rate: -0.042622 deg/s, posRepo size: 4
2021-01-28T00:05:38.958Z,1611792338.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.059982 m,
      bearing: 20.578084 deg,
      approachRate: -0.606859 m/s,
      LOS rate: -0.042622 deg/s,
      cmd update: -0.170489 deg/s,
      cmd heading: 45.476443 deg,
      new cmd heading: 45.558557 deg.

2021-01-28T00:05:41.417Z,1611792341.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:42.150Z,1611792342.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:42.556Z,1611792342.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:43.396Z,1611792343.396 [Micromodem](INFO): Nmea in: $SNTTA,0.156015,,,,000543.90*4D

2021-01-28T00:05:43.815Z,1611792343.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.880005 m, bearing: 20.365730 deg, deltaT: 4.859260 s, approachRate: -0.654416 m/s, LOS rate: -0.043701 deg/s, posRepo size: 4
2021-01-28T00:05:43.817Z,1611792343.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.880005 m,
      bearing: 20.365730 deg,
      approachRate: -0.654416 m/s,
      LOS rate: -0.043701 deg/s,
      cmd update: -0.174804 deg/s,
      cmd heading: 44.647990 deg,
      new cmd heading: 44.586038 deg.

2021-01-28T00:05:46.239Z,1611792346.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:47.003Z,1611792347.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:47.420Z,1611792347.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:48.250Z,1611792348.250 [Micromodem](INFO): Nmea in: $SNTTA,0.154144,,,,000548.75*4A

2021-01-28T00:05:48.703Z,1611792348.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.000000 m, bearing: 19.295230 deg, deltaT: 4.855343 s, approachRate: -0.593162 m/s, LOS rate: -0.220479 deg/s, posRepo size: 4
2021-01-28T00:05:48.721Z,1611792348.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.000000 m,
      bearing: 19.295230 deg,
      approachRate: -0.593162 m/s,
      LOS rate: -0.220479 deg/s,
      cmd update: -0.881916 deg/s,
      cmd heading: 43.799952 deg,
      new cmd heading: 43.730002 deg.

2021-01-28T00:05:51.087Z,1611792351.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:51.846Z,1611792351.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:52.273Z,1611792352.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:53.096Z,1611792353.096 [Micromodem](INFO): Nmea in: $SNTTA,0.151925,,,,000553.59*44

2021-01-28T00:05:53.551Z,1611792353.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.119995 m, bearing: 15.678378 deg, deltaT: 4.821237 s, approachRate: -0.597358 m/s, LOS rate: -0.750192 deg/s, posRepo size: 4
2021-01-28T00:05:53.559Z,1611792353.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.119995 m,
      bearing: 15.678378 deg,
      approachRate: -0.597358 m/s,
      LOS rate: -0.750192 deg/s,
      cmd update: -3.000766 deg/s,
      cmd heading: 39.544528 deg,
      new cmd heading: 39.171672 deg.

2021-01-28T00:05:56.011Z,1611792356.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:05:56.713Z,1611792356.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:05:57.104Z,1611792357.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:05:57.920Z,1611792357.920 [Micromodem](INFO): Nmea in: $SNTTA,0.149897,,,,000558.46*40

2021-01-28T00:05:58.386Z,1611792358.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.399994 m, bearing: 18.931220 deg, deltaT: 4.806976 s, approachRate: -0.773876 m/s, LOS rate: 0.676692 deg/s, posRepo size: 4
2021-01-28T00:05:58.388Z,1611792358.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.399994 m,
      bearing: 18.931220 deg,
      approachRate: -0.773876 m/s,
      LOS rate: 0.676692 deg/s,
      cmd update: 2.706768 deg/s,
      cmd heading: 25.119943 deg,
      new cmd heading: 23.765103 deg.

2021-01-28T00:06:00.496Z,1611792360.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:01.138Z,1611792361.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:01.552Z,1611792361.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:02.392Z,1611792362.392 [Micromodem](INFO): Nmea in: $SNTTA,0.147828,,,,000602.88*44

2021-01-28T00:06:02.802Z,1611792362.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.579987 m, bearing: 20.614228 deg, deltaT: 4.605697 s, approachRate: -0.612287 m/s, LOS rate: 0.365419 deg/s, posRepo size: 4
2021-01-28T00:06:02.804Z,1611792362.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.579987 m,
      bearing: 20.614228 deg,
      approachRate: -0.612287 m/s,
      LOS rate: 0.365419 deg/s,
      cmd update: 1.461675 deg/s,
      cmd heading: 37.543230 deg,
      new cmd heading: 38.294014 deg.

2021-01-28T00:06:05.257Z,1611792365.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:05.992Z,1611792365.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:06.416Z,1611792366.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:07.218Z,1611792367.218 [Micromodem](INFO): Nmea in: $CAERR,000608,DATA_TIMEOUT,2*43

2021-01-28T00:06:07.621Z,1611792367.621 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-01-28T00:06:07.663Z,1611792367.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.519989 m, bearing: 20.925398 deg, deltaT: 4.726083 s, approachRate: -0.647470 m/s, LOS rate: 0.065841 deg/s, posRepo size: 4
2021-01-28T00:06:07.669Z,1611792367.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.519989 m,
      bearing: 20.925398 deg,
      approachRate: -0.647470 m/s,
      LOS rate: 0.065841 deg/s,
      cmd update: 0.263364 deg/s,
      cmd heading: 44.474629 deg,
      new cmd heading: 45.053931 deg.

2021-01-28T00:06:09.265Z,1611792369.265 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-01-28T00:06:09.629Z,1611792369.629 [Micromodem](INFO): Nmea in: $SNTTA,0.145819,,,,000607.74*42

2021-01-28T00:06:10.035Z,1611792370.035 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,000608.705756,3,0,200,4000,14500,1,1,10,1,2,1,3,64*40

2021-01-28T00:06:10.097Z,1611792370.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:10.850Z,1611792370.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:11.264Z,1611792371.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:12.058Z,1611792372.058 [Micromodem](INFO): Nmea in: $SNTTA,0.143759,,,,000612.60*4E

2021-01-28T00:06:12.519Z,1611792372.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.519989 m, bearing: 20.103205 deg, deltaT: 4.810436 s, approachRate: -0.623644 m/s, LOS rate: -0.170919 deg/s, posRepo size: 4
2021-01-28T00:06:12.525Z,1611792372.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.519989 m,
      bearing: 20.103205 deg,
      approachRate: -0.623644 m/s,
      LOS rate: -0.170919 deg/s,
      cmd update: -0.683674 deg/s,
      cmd heading: 45.741433 deg,
      new cmd heading: 45.857925 deg.

2021-01-28T00:06:14.918Z,1611792374.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:15.765Z,1611792375.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:16.164Z,1611792376.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:16.987Z,1611792376.987 [Micromodem](INFO): Nmea in: $SNTTA,0.141861,,,,000617.51*4F

2021-01-28T00:06:17.427Z,1611792377.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.699997 m, bearing: 18.554801 deg, deltaT: 4.952798 s, approachRate: -0.569374 m/s, LOS rate: -0.312632 deg/s, posRepo size: 4
2021-01-28T00:06:17.429Z,1611792377.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.699997 m,
      bearing: 18.554801 deg,
      approachRate: -0.569374 m/s,
      LOS rate: -0.312632 deg/s,
      cmd update: -1.250529 deg/s,
      cmd heading: 42.370086 deg,
      new cmd heading: 42.083632 deg.

2021-01-28T00:06:19.906Z,1611792379.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:20.598Z,1611792380.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:21.006Z,1611792381.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:21.836Z,1611792381.836 [Micromodem](INFO): Nmea in: $SNTTA,0.139880,,,,000622.34*4A

2021-01-28T00:06:22.277Z,1611792382.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.639984 m, bearing: 19.438582 deg, deltaT: 4.921521 s, approachRate: -0.621762 m/s, LOS rate: 0.179575 deg/s, posRepo size: 4
2021-01-28T00:06:22.279Z,1611792382.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.639984 m,
      bearing: 19.438582 deg,
      approachRate: -0.621762 m/s,
      LOS rate: 0.179575 deg/s,
      cmd update: 0.718299 deg/s,
      cmd heading: 36.188222 deg,
      new cmd heading: 35.781410 deg.

2021-01-28T00:06:24.664Z,1611792384.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:25.450Z,1611792385.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:25.861Z,1611792385.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:26.684Z,1611792386.684 [Micromodem](INFO): Nmea in: $SNTTA,0.137968,,,,000627.20*43

2021-01-28T00:06:27.102Z,1611792387.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.759979 m, bearing: 19.159715 deg, deltaT: 4.768624 s, approachRate: -0.603949 m/s, LOS rate: -0.058479 deg/s, posRepo size: 4
2021-01-28T00:06:27.128Z,1611792387.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.759979 m,
      bearing: 19.159715 deg,
      approachRate: -0.603949 m/s,
      LOS rate: -0.058479 deg/s,
      cmd update: -0.233918 deg/s,
      cmd heading: 39.613521 deg,
      new cmd heading: 39.888310 deg.

2021-01-28T00:06:29.573Z,1611792389.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:30.298Z,1611792390.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:30.716Z,1611792390.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:31.540Z,1611792391.540 [Micromodem](INFO): Nmea in: $SNTTA,0.135838,,,,000632.04*47

2021-01-28T00:06:31.958Z,1611792391.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.519989 m, bearing: 18.880622 deg, deltaT: 4.888109 s, approachRate: -0.662831 m/s, LOS rate: -0.057096 deg/s, posRepo size: 4
2021-01-28T00:06:31.961Z,1611792391.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.519989 m,
      bearing: 18.880622 deg,
      approachRate: -0.662831 m/s,
      LOS rate: -0.057096 deg/s,
      cmd update: -0.228386 deg/s,
      cmd heading: 38.471374 deg,
      new cmd heading: 38.388123 deg.

2021-01-28T00:06:34.404Z,1611792394.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:35.146Z,1611792395.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:35.552Z,1611792395.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:36.397Z,1611792396.397 [Micromodem](INFO): Nmea in: $SNTTA,0.133795,,,,000636.89*48

2021-01-28T00:06:36.810Z,1611792396.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.459991 m, bearing: 18.747566 deg, deltaT: 4.850225 s, approachRate: -0.630898 m/s, LOS rate: -0.027433 deg/s, posRepo size: 4
2021-01-28T00:06:36.812Z,1611792396.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.459991 m,
      bearing: 18.747566 deg,
      approachRate: -0.630898 m/s,
      LOS rate: -0.027433 deg/s,
      cmd update: -0.109731 deg/s,
      cmd heading: 37.363318 deg,
      new cmd heading: 37.282134 deg.

2021-01-28T00:06:39.390Z,1611792399.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:39.999Z,1611792399.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:40.416Z,1611792400.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:41.270Z,1611792401.270 [Micromodem](INFO): Nmea in: $SNTTA,0.131805,,,,000641.74*4E

2021-01-28T00:06:41.270Z,1611792401.270 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-28T00:06:41.789Z,1611792401.789 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA11602B0000005D00000400320000000000000000151D80030C5669BF527B606E4F3D130FD4D21054F2393D2603FBF345C8451C502DE9D64CB97B175D3372
2021-01-28T00:06:41.790Z,1611792401.790 [Micromodem](INFO): Outgoing frame #2, 6 bytes: AE1E75EBE000
2021-01-28T00:06:41.790Z,1611792401.790 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T00:06:41.858Z,1611792401.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.459976 m, bearing: 19.298568 deg, deltaT: 5.015997 s, approachRate: -0.598090 m/s, LOS rate: 0.109849 deg/s, posRepo size: 4
2021-01-28T00:06:41.864Z,1611792401.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 19.298568 deg,
      approachRate: -0.598090 m/s,
      LOS rate: 0.109849 deg/s,
      cmd update: 0.439395 deg/s,
      cmd heading: 36.812908 deg,
      new cmd heading: 36.770400 deg.

2021-01-28T00:06:42.566Z,1611792402.566 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T00:06:42.986Z,1611792402.986 [Micromodem](INFO): Nmea in: $CADRQ,000643,1,10,0,64,1*77

2021-01-28T00:06:42.987Z,1611792402.987 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA11602B0000005D00000400320000000000000000151D80030C5669BF527B606E4F3D130FD4D21054F2393D2603FBF345C8451C502DE9D64CB97B175D3372*48

2021-01-28T00:06:43.389Z,1611792403.389 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:06:43.794Z,1611792403.794 [Micromodem](INFO): Nmea in: $CADRQ,000644,1,10,0,64,2*73

2021-01-28T00:06:43.795Z,1611792403.795 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,AE1E75EBE000*49

2021-01-28T00:06:44.179Z,1611792404.179 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-01-28T00:06:44.262Z,1611792404.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:44.582Z,1611792404.582 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-01-28T00:06:44.980Z,1611792404.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:46.999Z,1611792406.999 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-01-28T00:06:46.999Z,1611792406.999 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-01-28T00:06:47.077Z,1611792407.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:47.430Z,1611792407.430 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,000645.515764,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4D

2021-01-28T00:06:47.430Z,1611792407.430 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,000645.515764,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4D

2021-01-28T00:06:49.830Z,1611792409.830 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T00:06:49.854Z,1611792409.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:50.258Z,1611792410.258 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-28T00:06:50.259Z,1611792410.259 [Micromodem](INFO): Sent 62 bytes from file Logs/20210127T223404/Courier0043.lzma.parts
2021-01-28T00:06:50.259Z,1611792410.259 [Micromodem](INFO): Packets left to send: 0
2021-01-28T00:06:50.664Z,1611792410.664 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128000650.339774,06,646,28,0188,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,12.1,3.00,08,0.00,-01,1.41,36,14500,4000*4F

2021-01-28T00:06:50.665Z,1611792410.665 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128000650.339774,06,646,28,0188,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,12.1,3.00,08,0.00,-01,1.41,36,14500,4000*4F

2021-01-28T00:06:50.800Z,1611792410.800 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-28T00:06:50.800Z,1611792410.800 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-28T00:06:50.800Z,1611792410.800 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-28T00:06:50.800Z,1611792410.800 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T00:06:50.800Z,1611792410.800 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-28T00:06:52.511Z,1611792412.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:55.118Z,1611792415.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:06:56.313Z,1611792416.313 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:06:56.720Z,1611792416.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:06:57.536Z,1611792417.536 [Micromodem](INFO): Nmea in: $SNTTA,0.125296,,,,000658.06*46

2021-01-28T00:06:57.964Z,1611792417.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.739990 m, bearing: 17.325294 deg, deltaT: 16.125135 s, approachRate: -0.602785 m/s, LOS rate: -0.122373 deg/s, posRepo size: 4
2021-01-28T00:06:57.966Z,1611792417.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.739990 m,
      bearing: 17.325294 deg,
      approachRate: -0.602785 m/s,
      LOS rate: -0.122373 deg/s,
      cmd update: -0.489490 deg/s,
      cmd heading: 43.897953 deg,
      new cmd heading: 44.060182 deg.

2021-01-28T00:07:00.411Z,1611792420.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:01.172Z,1611792421.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:01.564Z,1611792421.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:02.412Z,1611792422.412 [Micromodem](INFO): Nmea in: $SNTTA,0.123377,,,,000702.92*4D

2021-01-28T00:07:02.815Z,1611792422.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.980011 m, bearing: 16.863428 deg, deltaT: 4.921961 s, approachRate: -0.560748 m/s, LOS rate: -0.093838 deg/s, posRepo size: 4
2021-01-28T00:07:02.817Z,1611792422.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.980011 m,
      bearing: 16.863428 deg,
      approachRate: -0.560748 m/s,
      LOS rate: -0.093838 deg/s,
      cmd update: -0.375351 deg/s,
      cmd heading: 41.488390 deg,
      new cmd heading: 41.342582 deg.

2021-01-28T00:07:05.246Z,1611792425.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:06.000Z,1611792426.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:06.428Z,1611792426.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:07.257Z,1611792427.257 [Micromodem](INFO): Nmea in: $SNTTA,0.121322,,,,000707.75*43

2021-01-28T00:07:07.307Z,1611792427.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.980011 m, bearing: 14.977319 deg, deltaT: 4.341725 s, approachRate: 0.000000 m/s, LOS rate: -0.434415 deg/s, posRepo size: 4
2021-01-28T00:07:07.311Z,1611792427.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.980011 m,
      bearing: 14.977319 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.434415 deg/s,
      cmd update: -1.737659 deg/s,
      cmd heading: 39.858870 deg,
      new cmd heading: 39.690612 deg.

2021-01-28T00:07:09.660Z,1611792429.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:10.442Z,1611792430.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:10.852Z,1611792430.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:11.685Z,1611792431.685 [Micromodem](INFO): Nmea in: $SNTTA,0.119467,,,,000712.19*40

2021-01-28T00:07:11.722Z,1611792431.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.220016 m, bearing: 15.826718 deg, deltaT: 4.443377 s, approachRate: -1.296310 m/s, LOS rate: 0.191161 deg/s, posRepo size: 4
2021-01-28T00:07:11.724Z,1611792431.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.220016 m,
      bearing: 15.826718 deg,
      approachRate: -1.296310 m/s,
      LOS rate: 0.191161 deg/s,
      cmd update: 0.764643 deg/s,
      cmd heading: 32.130171 deg,
      new cmd heading: 31.408094 deg.

2021-01-28T00:07:14.127Z,1611792434.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:14.895Z,1611792434.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:15.307Z,1611792435.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:16.140Z,1611792436.140 [Micromodem](INFO): Nmea in: $SNTTA,0.117675,,,,000716.64*41

2021-01-28T00:07:16.164Z,1611792436.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.220016 m, bearing: 23.342533 deg, deltaT: 4.455030 s, approachRate: 0.000000 m/s, LOS rate: 1.687040 deg/s, posRepo size: 4
2021-01-28T00:07:16.166Z,1611792436.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.220016 m,
      bearing: 23.342533 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.687040 deg/s,
      cmd update: 6.748162 deg/s,
      cmd heading: 35.533595 deg,
      new cmd heading: 35.843544 deg.

2021-01-28T00:07:18.571Z,1611792438.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:19.358Z,1611792439.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:19.755Z,1611792439.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:20.561Z,1611792440.561 [Micromodem](INFO): Nmea in: $SNTTA,0.115805,,,,000721.10*4D

2021-01-28T00:07:20.989Z,1611792440.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 18.044252 deg, deltaT: 4.866528 s, approachRate: -1.171269 m/s, LOS rate: -1.088719 deg/s, posRepo size: 4
2021-01-28T00:07:20.992Z,1611792440.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.520004 m,
      bearing: 18.044252 deg,
      approachRate: -1.171269 m/s,
      LOS rate: -1.088719 deg/s,
      cmd update: -4.354877 deg/s,
      cmd heading: 68.372464 deg,
      new cmd heading: 70.829834 deg.

2021-01-28T00:07:22.986Z,1611792442.986 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-28T00:07:23.457Z,1611792443.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:24.186Z,1611792444.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:24.580Z,1611792444.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:25.445Z,1611792445.445 [Micromodem](INFO): Nmea in: $SNTTA,0.113845,,,,000725.93*40

2021-01-28T00:07:25.481Z,1611792445.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 11.615148 deg, deltaT: 4.383607 s, approachRate: 0.000000 m/s, LOS rate: -1.466624 deg/s, posRepo size: 4
2021-01-28T00:07:25.483Z,1611792445.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.520004 m,
      bearing: 11.615148 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.466624 deg/s,
      cmd update: -5.866496 deg/s,
      cmd heading: 49.270934 deg,
      new cmd heading: 47.222091 deg.

2021-01-28T00:07:27.834Z,1611792447.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:28.630Z,1611792448.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:29.048Z,1611792449.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:29.869Z,1611792449.869 [Micromodem](INFO): Nmea in: $SNTTA,0.112354,,,,000730.38*4F

2021-01-28T00:07:29.908Z,1611792449.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 13.068299 deg, deltaT: 4.488594 s, approachRate: 0.000000 m/s, LOS rate: 0.323743 deg/s, posRepo size: 4
2021-01-28T00:07:29.910Z,1611792449.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.520004 m,
      bearing: 13.068299 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.323743 deg/s,
      cmd update: 1.294972 deg/s,
      cmd heading: 22.940775 deg,
      new cmd heading: 20.539982 deg.

2021-01-28T00:07:32.286Z,1611792452.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:33.070Z,1611792453.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:33.494Z,1611792453.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:34.323Z,1611792454.323 [Micromodem](INFO): Nmea in: $SNTTA,0.110770,,,,000734.82*4A

2021-01-28T00:07:34.395Z,1611792454.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.080002 m, bearing: 16.154804 deg, deltaT: 4.531623 s, approachRate: -1.641796 m/s, LOS rate: 0.681104 deg/s, posRepo size: 4
2021-01-28T00:07:34.401Z,1611792454.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.080002 m,
      bearing: 16.154804 deg,
      approachRate: -1.641796 m/s,
      LOS rate: 0.681104 deg/s,
      cmd update: 2.724415 deg/s,
      cmd heading: 28.811632 deg,
      new cmd heading: 29.282094 deg.

2021-01-28T00:07:36.756Z,1611792456.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:37.530Z,1611792457.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:37.942Z,1611792457.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:38.753Z,1611792458.753 [Micromodem](INFO): Nmea in: $SNTTA,0.108997,,,,000739.28*49

2021-01-28T00:07:38.829Z,1611792458.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.080002 m, bearing: 14.784073 deg, deltaT: 4.367821 s, approachRate: 0.000000 m/s, LOS rate: -0.313825 deg/s, posRepo size: 4
2021-01-28T00:07:38.831Z,1611792458.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.080002 m,
      bearing: 14.784073 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.313825 deg/s,
      cmd update: -1.255300 deg/s,
      cmd heading: 40.700404 deg,
      new cmd heading: 41.847293 deg.

2021-01-28T00:07:41.224Z,1611792461.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:41.966Z,1611792461.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:42.384Z,1611792462.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:43.216Z,1611792463.216 [Micromodem](INFO): Nmea in: $SNTTA,0.107076,,,,000743.71*41

2021-01-28T00:07:43.265Z,1611792463.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.440002 m, bearing: 14.210752 deg, deltaT: 4.412167 s, approachRate: -1.278283 m/s, LOS rate: -0.129941 deg/s, posRepo size: 4
2021-01-28T00:07:43.267Z,1611792463.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.440002 m,
      bearing: 14.210752 deg,
      approachRate: -1.278283 m/s,
      LOS rate: -0.129941 deg/s,
      cmd update: -0.519763 deg/s,
      cmd heading: 35.156830 deg,
      new cmd heading: 34.598257 deg.

2021-01-28T00:07:45.636Z,1611792465.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:46.422Z,1611792466.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:46.808Z,1611792466.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:47.637Z,1611792467.637 [Micromodem](INFO): Nmea in: $SNTTA,0.105425,,,,000748.17*4A

2021-01-28T00:07:47.677Z,1611792467.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 12.843775 deg, deltaT: 4.463340 s, approachRate: -0.645254 m/s, LOS rate: -0.306268 deg/s, posRepo size: 4
2021-01-28T00:07:47.679Z,1611792467.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 12.843775 deg,
      approachRate: -0.645254 m/s,
      LOS rate: -0.306268 deg/s,
      cmd update: -1.225071 deg/s,
      cmd heading: 32.839047 deg,
      new cmd heading: 32.628304 deg.

2021-01-28T00:07:50.062Z,1611792470.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:50.854Z,1611792470.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:51.275Z,1611792471.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:52.093Z,1611792472.093 [Micromodem](INFO): Nmea in: $SNTTA,0.103605,,,,000752.60*47

2021-01-28T00:07:52.131Z,1611792472.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.159988 m, bearing: 13.834967 deg, deltaT: 4.436072 s, approachRate: -0.541025 m/s, LOS rate: 0.223439 deg/s, posRepo size: 4
2021-01-28T00:07:52.133Z,1611792472.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.159988 m,
      bearing: 13.834967 deg,
      approachRate: -0.541025 m/s,
      LOS rate: 0.223439 deg/s,
      cmd update: 0.893756 deg/s,
      cmd heading: 27.404485 deg,
      new cmd heading: 26.885734 deg.

2021-01-28T00:07:54.551Z,1611792474.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:55.286Z,1611792475.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:07:55.704Z,1611792475.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:07:56.544Z,1611792476.544 [Micromodem](INFO): Nmea in: $SNTTA,0.101693,,,,000757.03*4A

2021-01-28T00:07:56.580Z,1611792476.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.340012 m, bearing: 14.032436 deg, deltaT: 4.403711 s, approachRate: -0.640364 m/s, LOS rate: 0.044841 deg/s, posRepo size: 4
2021-01-28T00:07:56.582Z,1611792476.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.340012 m,
      bearing: 14.032436 deg,
      approachRate: -0.640364 m/s,
      LOS rate: 0.044841 deg/s,
      cmd update: 0.179366 deg/s,
      cmd heading: 31.343937 deg,
      new cmd heading: 31.759436 deg.

2021-01-28T00:07:58.962Z,1611792478.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:07:59.742Z,1611792479.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:00.136Z,1611792480.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:00.990Z,1611792480.990 [Micromodem](INFO): Nmea in: $SNTTA,0.100067,,,,000801.49*44

2021-01-28T00:08:01.016Z,1611792481.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 7.018182 deg, deltaT: 4.503089 s, approachRate: -0.532970 m/s, LOS rate: -1.557654 deg/s, posRepo size: 4
2021-01-28T00:08:01.018Z,1611792481.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.940002 m,
      bearing: 7.018182 deg,
      approachRate: -0.532970 m/s,
      LOS rate: -1.557654 deg/s,
      cmd update: -6.230616 deg/s,
      cmd heading: 32.151631 deg,
      new cmd heading: 32.222946 deg.

2021-01-28T00:08:03.426Z,1611792483.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:04.189Z,1611792484.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:04.588Z,1611792484.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:05.442Z,1611792485.442 [Micromodem](INFO): Nmea in: $SNTTA,0.098095,,,,000805.94*4D

2021-01-28T00:08:05.477Z,1611792485.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.940002 m, bearing: 12.524889 deg, deltaT: 4.424832 s, approachRate: -0.677992 m/s, LOS rate: 1.244501 deg/s, posRepo size: 4
2021-01-28T00:08:05.479Z,1611792485.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.940002 m,
      bearing: 12.524889 deg,
      approachRate: -0.677992 m/s,
      LOS rate: 1.244501 deg/s,
      cmd update: 4.978004 deg/s,
      cmd heading: 4.607962 deg,
      new cmd heading: 1.879550 deg.

2021-01-28T00:08:07.853Z,1611792487.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:08.638Z,1611792488.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:09.050Z,1611792489.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:09.857Z,1611792489.857 [Micromodem](INFO): Nmea in: $SNTTA,0.096268,,,,000810.38*41

2021-01-28T00:08:09.895Z,1611792489.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.179993 m, bearing: 14.451415 deg, deltaT: 4.445274 s, approachRate: -0.620886 m/s, LOS rate: 0.433387 deg/s, posRepo size: 4
2021-01-28T00:08:09.901Z,1611792489.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.179993 m,
      bearing: 14.451415 deg,
      approachRate: -0.620886 m/s,
      LOS rate: 0.433387 deg/s,
      cmd update: 1.733550 deg/s,
      cmd heading: 26.757186 deg,
      new cmd heading: 28.784139 deg.

2021-01-28T00:08:12.291Z,1611792492.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:13.070Z,1611792493.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:13.486Z,1611792493.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:14.309Z,1611792494.309 [Micromodem](INFO): Nmea in: $SNTTA,0.094321,,,,000814.82*4A

2021-01-28T00:08:14.383Z,1611792494.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.300003 m, bearing: 15.383994 deg, deltaT: 4.423842 s, approachRate: -0.651015 m/s, LOS rate: 0.210807 deg/s, posRepo size: 4
2021-01-28T00:08:14.389Z,1611792494.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.300003 m,
      bearing: 15.383994 deg,
      approachRate: -0.651015 m/s,
      LOS rate: 0.210807 deg/s,
      cmd update: 0.843230 deg/s,
      cmd heading: 34.425619 deg,
      new cmd heading: 35.242332 deg.

2021-01-28T00:08:16.745Z,1611792496.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:17.510Z,1611792497.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:17.927Z,1611792497.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:18.762Z,1611792498.762 [Micromodem](INFO): Nmea in: $SNTTA,0.092334,,0.123909,,000819.26*55

2021-01-28T00:08:18.864Z,1611792498.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.480011 m, bearing: 13.710116 deg, deltaT: 4.484463 s, approachRate: -0.628836 m/s, LOS rate: -0.373262 deg/s, posRepo size: 4
2021-01-28T00:08:18.866Z,1611792498.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.480011 m,
      bearing: 13.710116 deg,
      approachRate: -0.628836 m/s,
      LOS rate: -0.373262 deg/s,
      cmd update: -1.493046 deg/s,
      cmd heading: 38.203944 deg,
      new cmd heading: 38.598214 deg.

2021-01-28T00:08:21.218Z,1611792501.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:21.951Z,1611792501.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:22.379Z,1611792502.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:23.209Z,1611792503.209 [Micromodem](INFO): Nmea in: $SNTTA,0.090789,,,,000823.70*41

2021-01-28T00:08:23.256Z,1611792503.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.319992 m, bearing: 10.489548 deg, deltaT: 4.400736 s, approachRate: -0.490831 m/s, LOS rate: -0.731825 deg/s, posRepo size: 4
2021-01-28T00:08:23.258Z,1611792503.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.319992 m,
      bearing: 10.489548 deg,
      approachRate: -0.490831 m/s,
      LOS rate: -0.731825 deg/s,
      cmd update: -2.927300 deg/s,
      cmd heading: 31.628295 deg,
      new cmd heading: 30.943097 deg.

2021-01-28T00:08:25.615Z,1611792505.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:26.417Z,1611792506.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:26.804Z,1611792506.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:27.641Z,1611792507.641 [Micromodem](INFO): Nmea in: $SNTTA,0.089005,,,,000828.16*41

2021-01-28T00:08:27.666Z,1611792507.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.320007 m, bearing: 12.961610 deg, deltaT: 4.491978 s, approachRate: -0.667854 m/s, LOS rate: 0.550328 deg/s, posRepo size: 4
2021-01-28T00:08:27.688Z,1611792507.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.320007 m,
      bearing: 12.961610 deg,
      approachRate: -0.667854 m/s,
      LOS rate: 0.550328 deg/s,
      cmd update: 2.201313 deg/s,
      cmd heading: 18.507638 deg,
      new cmd heading: 17.374592 deg.

2021-01-28T00:08:30.062Z,1611792510.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:30.842Z,1611792510.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:31.275Z,1611792511.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:32.089Z,1611792512.089 [Micromodem](INFO): Nmea in: $SNTTA,0.087167,,,,000832.59*4A

2021-01-28T00:08:32.122Z,1611792512.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.680008 m, bearing: 15.555638 deg, deltaT: 4.382379 s, approachRate: -0.602412 m/s, LOS rate: 0.591922 deg/s, posRepo size: 4
2021-01-28T00:08:32.124Z,1611792512.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.680008 m,
      bearing: 15.555638 deg,
      approachRate: -0.602412 m/s,
      LOS rate: 0.591922 deg/s,
      cmd update: 2.367690 deg/s,
      cmd heading: 28.176936 deg,
      new cmd heading: 29.169843 deg.

2021-01-28T00:08:34.538Z,1611792514.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:35.286Z,1611792515.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:35.696Z,1611792515.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:36.529Z,1611792516.529 [Micromodem](INFO): Nmea in: $SNTTA,0.085328,,,,000837.03*4B

2021-01-28T00:08:36.589Z,1611792516.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 11.302185 deg, deltaT: 4.441867 s, approachRate: -0.648377 m/s, LOS rate: -0.957582 deg/s, posRepo size: 4
2021-01-28T00:08:36.591Z,1611792516.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.800003 m,
      bearing: 11.302185 deg,
      approachRate: -0.648377 m/s,
      LOS rate: -0.957582 deg/s,
      cmd update: -3.830329 deg/s,
      cmd heading: 38.693950 deg,
      new cmd heading: 39.820054 deg.

2021-01-28T00:08:38.960Z,1611792518.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:39.738Z,1611792519.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:40.136Z,1611792520.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:40.982Z,1611792520.982 [Micromodem](INFO): Nmea in: $SNTTA,0.083403,,,,000841.49*4C

2021-01-28T00:08:41.013Z,1611792521.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.920006 m, bearing: 11.007389 deg, deltaT: 4.489776 s, approachRate: -0.641457 m/s, LOS rate: -0.065659 deg/s, posRepo size: 4
2021-01-28T00:08:41.015Z,1611792521.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.920006 m,
      bearing: 11.007389 deg,
      approachRate: -0.641457 m/s,
      LOS rate: -0.065659 deg/s,
      cmd update: -0.262637 deg/s,
      cmd heading: 21.495807 deg,
      new cmd heading: 19.936197 deg.

2021-01-28T00:08:43.433Z,1611792523.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:44.262Z,1611792524.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:44.620Z,1611792524.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:45.455Z,1611792525.455 [Micromodem](INFO): Nmea in: $SNTTA,0.081651,,,,000846.01*40

2021-01-28T00:08:45.505Z,1611792525.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.279999 m, bearing: 10.048982 deg, deltaT: 4.447980 s, approachRate: -0.593529 m/s, LOS rate: -0.215470 deg/s, posRepo size: 4
2021-01-28T00:08:45.507Z,1611792525.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.279999 m,
      bearing: 10.048982 deg,
      approachRate: -0.593529 m/s,
      LOS rate: -0.215470 deg/s,
      cmd update: -0.861881 deg/s,
      cmd heading: 20.327611 deg,
      new cmd heading: 20.208326 deg.

2021-01-28T00:08:47.871Z,1611792527.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:48.666Z,1611792528.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:49.064Z,1611792529.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:49.909Z,1611792529.909 [Micromodem](INFO): Nmea in: $SNTTA,0.079823,,,,000850.41*4F

2021-01-28T00:08:49.924Z,1611792529.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.520004 m, bearing: 11.385971 deg, deltaT: 4.511140 s, approachRate: -0.611818 m/s, LOS rate: 0.296375 deg/s, posRepo size: 4
2021-01-28T00:08:49.926Z,1611792529.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.520004 m,
      bearing: 11.385971 deg,
      approachRate: -0.611818 m/s,
      LOS rate: 0.296375 deg/s,
      cmd update: 1.185501 deg/s,
      cmd heading: 16.443070 deg,
      new cmd heading: 16.127921 deg.

2021-01-28T00:08:52.374Z,1611792532.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:53.102Z,1611792533.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:53.504Z,1611792533.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:54.361Z,1611792534.361 [Micromodem](INFO): Nmea in: $SNTTA,0.077924,,,,000854.85*4B

2021-01-28T00:08:54.411Z,1611792534.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.640007 m, bearing: 12.408218 deg, deltaT: 4.372112 s, approachRate: -0.658720 m/s, LOS rate: 0.233811 deg/s, posRepo size: 4
2021-01-28T00:08:54.413Z,1611792534.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.640007 m,
      bearing: 12.408218 deg,
      approachRate: -0.658720 m/s,
      LOS rate: 0.233811 deg/s,
      cmd update: 0.935243 deg/s,
      cmd heading: 21.631100 deg,
      new cmd heading: 22.195579 deg.

2021-01-28T00:08:56.783Z,1611792536.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:08:57.542Z,1611792537.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:08:57.956Z,1611792537.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:08:58.806Z,1611792538.806 [Micromodem](INFO): Nmea in: $SNTTA,0.075947,,,,000859.29*47

2021-01-28T00:08:58.878Z,1611792538.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.700005 m, bearing: 11.079812 deg, deltaT: 4.497640 s, approachRate: -0.653677 m/s, LOS rate: -0.295356 deg/s, posRepo size: 4
2021-01-28T00:08:58.884Z,1611792538.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.700005 m,
      bearing: 11.079812 deg,
      approachRate: -0.653677 m/s,
      LOS rate: -0.295356 deg/s,
      cmd update: -1.181425 deg/s,
      cmd heading: 25.818744 deg,
      new cmd heading: 26.254287 deg.

2021-01-28T00:09:01.257Z,1611792541.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:01.982Z,1611792541.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:02.412Z,1611792542.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:03.249Z,1611792543.249 [Micromodem](INFO): Nmea in: $SNTTA,0.074057,,,,000903.73*4F

2021-01-28T00:09:03.279Z,1611792543.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.880005 m, bearing: 10.663321 deg, deltaT: 4.405214 s, approachRate: -0.640150 m/s, LOS rate: -0.094545 deg/s, posRepo size: 4
2021-01-28T00:09:03.306Z,1611792543.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.880005 m,
      bearing: 10.663321 deg,
      approachRate: -0.640150 m/s,
      LOS rate: -0.094545 deg/s,
      cmd update: -0.378180 deg/s,
      cmd heading: 20.600577 deg,
      new cmd heading: 20.070021 deg.

2021-01-28T00:09:05.668Z,1611792545.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:06.434Z,1611792546.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:06.853Z,1611792546.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:07.685Z,1611792547.685 [Micromodem](INFO): Nmea in: $SNTTA,0.072147,,,,000908.18*4F

2021-01-28T00:09:07.710Z,1611792547.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.239998 m, bearing: 13.389128 deg, deltaT: 4.453377 s, approachRate: -0.592810 m/s, LOS rate: 0.612076 deg/s, posRepo size: 4
2021-01-28T00:09:07.712Z,1611792547.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.239998 m,
      bearing: 13.389128 deg,
      approachRate: -0.592810 m/s,
      LOS rate: 0.612076 deg/s,
      cmd update: 2.448305 deg/s,
      cmd heading: 18.913339 deg,
      new cmd heading: 18.754615 deg.

2021-01-28T00:09:10.093Z,1611792550.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:10.882Z,1611792550.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:11.292Z,1611792551.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:12.129Z,1611792552.129 [Micromodem](INFO): Nmea in: $SNTTA,0.070188,,,,000912.63*49

2021-01-28T00:09:12.151Z,1611792552.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 11.663272 deg, deltaT: 4.448687 s, approachRate: -0.714816 m/s, LOS rate: -0.387947 deg/s, posRepo size: 4
2021-01-28T00:09:12.153Z,1611792552.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.060005 m,
      bearing: 11.663272 deg,
      approachRate: -0.714816 m/s,
      LOS rate: -0.387947 deg/s,
      cmd update: -1.551789 deg/s,
      cmd heading: 29.795173 deg,
      new cmd heading: 30.814469 deg.

2021-01-28T00:09:14.560Z,1611792554.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:15.320Z,1611792555.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:15.728Z,1611792555.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:16.569Z,1611792556.569 [Micromodem](INFO): Nmea in: $SNTTA,0.068276,,,,000917.07*45

2021-01-28T00:09:16.624Z,1611792556.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.240005 m, bearing: 9.368442 deg, deltaT: 4.474812 s, approachRate: -0.630194 m/s, LOS rate: -0.512833 deg/s, posRepo size: 4
2021-01-28T00:09:16.626Z,1611792556.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.240005 m,
      bearing: 9.368442 deg,
      approachRate: -0.630194 m/s,
      LOS rate: -0.512833 deg/s,
      cmd update: -2.051331 deg/s,
      cmd heading: 22.894753 deg,
      new cmd heading: 22.215379 deg.

2021-01-28T00:09:19.005Z,1611792559.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:19.774Z,1611792559.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:20.173Z,1611792560.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:21.013Z,1611792561.013 [Micromodem](INFO): Nmea in: $SNTTA,0.066372,,,,000921.52*4B

2021-01-28T00:09:21.045Z,1611792561.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.660004 m, bearing: 10.661961 deg, deltaT: 4.381094 s, approachRate: -0.588894 m/s, LOS rate: 0.295250 deg/s, posRepo size: 4
2021-01-28T00:09:21.047Z,1611792561.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.660004 m,
      bearing: 10.661961 deg,
      approachRate: -0.588894 m/s,
      LOS rate: 0.295250 deg/s,
      cmd update: 1.181001 deg/s,
      cmd heading: 13.841297 deg,
      new cmd heading: 12.917753 deg.

2021-01-28T00:09:23.482Z,1611792563.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:24.222Z,1611792564.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:24.612Z,1611792564.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:25.453Z,1611792565.453 [Micromodem](INFO): Nmea in: $SNTTA,0.064390,,,,000925.97*48

2021-01-28T00:09:25.500Z,1611792565.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.360001 m, bearing: 10.453328 deg, deltaT: 4.444109 s, approachRate: -0.742557 m/s, LOS rate: -0.046946 deg/s, posRepo size: 4
2021-01-28T00:09:25.502Z,1611792565.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.360001 m,
      bearing: 10.453328 deg,
      approachRate: -0.742557 m/s,
      LOS rate: -0.046946 deg/s,
      cmd update: -0.187784 deg/s,
      cmd heading: 19.089823 deg,
      new cmd heading: 19.633727 deg.

2021-01-28T00:09:27.886Z,1611792567.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:28.654Z,1611792568.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:29.069Z,1611792569.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:29.913Z,1611792569.913 [Micromodem](INFO): Nmea in: $SNTTA,0.062404,,,,000930.40*4A

2021-01-28T00:09:29.935Z,1611792569.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 15.168187 deg, deltaT: 4.470520 s, approachRate: -0.617378 m/s, LOS rate: 1.054656 deg/s, posRepo size: 4
2021-01-28T00:09:29.938Z,1611792569.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.599998 m,
      bearing: 15.168187 deg,
      approachRate: -0.617378 m/s,
      LOS rate: 1.054656 deg/s,
      cmd update: 4.218622 deg/s,
      cmd heading: 18.250327 deg,
      new cmd heading: 18.170414 deg.

2021-01-28T00:09:32.371Z,1611792572.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:33.098Z,1611792573.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:33.511Z,1611792573.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:34.357Z,1611792574.357 [Micromodem](INFO): Nmea in: $SNTTA,0.060418,,,,000934.84*49

2021-01-28T00:09:34.414Z,1611792574.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.779999 m, bearing: 10.302972 deg, deltaT: 4.443105 s, approachRate: -0.634691 m/s, LOS rate: -1.095003 deg/s, posRepo size: 4
2021-01-28T00:09:34.416Z,1611792574.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.779999 m,
      bearing: 10.302972 deg,
      approachRate: -0.634691 m/s,
      LOS rate: -1.095003 deg/s,
      cmd update: -4.380013 deg/s,
      cmd heading: 36.992388 deg,
      new cmd heading: 38.939210 deg.

2021-01-28T00:09:36.772Z,1611792576.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:37.547Z,1611792577.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:37.964Z,1611792577.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:38.789Z,1611792578.789 [Micromodem](INFO): Nmea in: $SNTTA,0.058724,,,,000939.29*44

2021-01-28T00:09:38.883Z,1611792578.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.900002 m, bearing: 9.848918 deg, deltaT: 4.484087 s, approachRate: -0.642271 m/s, LOS rate: -0.101259 deg/s, posRepo size: 4
2021-01-28T00:09:38.894Z,1611792578.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.900002 m,
      bearing: 9.848918 deg,
      approachRate: -0.642271 m/s,
      LOS rate: -0.101259 deg/s,
      cmd update: -0.405036 deg/s,
      cmd heading: 17.439255 deg,
      new cmd heading: 15.550952 deg.

2021-01-28T00:09:41.243Z,1611792581.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:41.996Z,1611792581.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:42.417Z,1611792582.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:43.241Z,1611792583.241 [Micromodem](INFO): Nmea in: $SNTTA,0.056696,,,,000943.74*47

2021-01-28T00:09:43.270Z,1611792583.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 10.386261 deg, deltaT: 4.376010 s, approachRate: -0.712979 m/s, LOS rate: 0.122793 deg/s, posRepo size: 4
2021-01-28T00:09:43.272Z,1611792583.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.779999 m,
      bearing: 10.386261 deg,
      approachRate: -0.712979 m/s,
      LOS rate: 0.122793 deg/s,
      cmd update: 0.491171 deg/s,
      cmd heading: 15.658666 deg,
      new cmd heading: 15.473417 deg.

2021-01-28T00:09:45.657Z,1611792585.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:46.426Z,1611792586.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:46.845Z,1611792586.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:47.678Z,1611792587.678 [Micromodem](INFO): Nmea in: $SNTTA,0.054831,,,,000948.17*48

2021-01-28T00:09:47.707Z,1611792587.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.380005 m, bearing: 14.092077 deg, deltaT: 4.478096 s, approachRate: -0.535941 m/s, LOS rate: 0.827543 deg/s, posRepo size: 4
2021-01-28T00:09:47.709Z,1611792587.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.380005 m,
      bearing: 14.092077 deg,
      approachRate: -0.535941 m/s,
      LOS rate: 0.827543 deg/s,
      cmd update: 3.310172 deg/s,
      cmd heading: 17.858279 deg,
      new cmd heading: 18.062694 deg.

2021-01-28T00:09:50.078Z,1611792590.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:50.880Z,1611792590.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:51.284Z,1611792591.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:52.125Z,1611792592.125 [Micromodem](INFO): Nmea in: $SNTTA,0.052848,,,,000952.63*48

2021-01-28T00:09:52.167Z,1611792592.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.080002 m, bearing: 11.279877 deg, deltaT: 4.439817 s, approachRate: -0.743275 m/s, LOS rate: -0.633404 deg/s, posRepo size: 4
2021-01-28T00:09:52.169Z,1611792592.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.080002 m,
      bearing: 11.279877 deg,
      approachRate: -0.743275 m/s,
      LOS rate: -0.633404 deg/s,
      cmd update: -2.533618 deg/s,
      cmd heading: 32.501634 deg,
      new cmd heading: 33.996660 deg.

2021-01-28T00:09:54.561Z,1611792594.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:55.322Z,1611792595.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:09:55.734Z,1611792595.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:09:56.569Z,1611792596.569 [Micromodem](INFO): Nmea in: $SNTTA,0.050826,,,,000957.07*45

2021-01-28T00:09:56.603Z,1611792596.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.080002 m, bearing: 9.052390 deg, deltaT: 4.431460 s, approachRate: -0.676978 m/s, LOS rate: -0.502653 deg/s, posRepo size: 4
2021-01-28T00:09:56.605Z,1611792596.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.080002 m,
      bearing: 9.052390 deg,
      approachRate: -0.676978 m/s,
      LOS rate: -0.502653 deg/s,
      cmd update: -2.010613 deg/s,
      cmd heading: 21.287992 deg,
      new cmd heading: 20.116591 deg.

2021-01-28T00:09:58.998Z,1611792598.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:09:59.770Z,1611792599.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:00.178Z,1611792600.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:01.017Z,1611792601.017 [Micromodem](INFO): Nmea in: $SNTTA,0.048971,,,,001001.51*47

2021-01-28T00:10:01.038Z,1611792601.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 7.977372 deg, deltaT: 4.458443 s, approachRate: -0.632508 m/s, LOS rate: -0.241119 deg/s, posRepo size: 4
2021-01-28T00:10:01.040Z,1611792601.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.260002 m,
      bearing: 7.977372 deg,
      approachRate: -0.632508 m/s,
      LOS rate: -0.241119 deg/s,
      cmd update: -0.964478 deg/s,
      cmd heading: 12.281028 deg,
      new cmd heading: 11.441943 deg.

2021-01-28T00:10:03.463Z,1611792603.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:04.226Z,1611792604.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:04.608Z,1611792604.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:05.445Z,1611792605.445 [Micromodem](INFO): Nmea in: $SNTTA,0.047020,,,,001005.97*4B

2021-01-28T00:10:05.493Z,1611792605.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.320000 m, bearing: 10.708872 deg, deltaT: 4.412177 s, approachRate: -0.666338 m/s, LOS rate: 0.619082 deg/s, posRepo size: 4
2021-01-28T00:10:05.495Z,1611792605.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.320000 m,
      bearing: 10.708872 deg,
      approachRate: -0.666338 m/s,
      LOS rate: 0.619082 deg/s,
      cmd update: 2.476328 deg/s,
      cmd heading: 8.025581 deg,
      new cmd heading: 7.581873 deg.

2021-01-28T00:10:07.866Z,1611792607.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:08.650Z,1611792608.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:09.076Z,1611792609.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:09.897Z,1611792609.897 [Micromodem](INFO): Nmea in: $SNTTA,0.044995,,,,001010.39*4F

2021-01-28T00:10:09.919Z,1611792609.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.320007 m, bearing: 9.888628 deg, deltaT: 4.476779 s, approachRate: -0.670123 m/s, LOS rate: -0.183222 deg/s, posRepo size: 4
2021-01-28T00:10:09.922Z,1611792609.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.320007 m,
      bearing: 9.888628 deg,
      approachRate: -0.670123 m/s,
      LOS rate: -0.183222 deg/s,
      cmd update: -0.732887 deg/s,
      cmd heading: 19.112376 deg,
      new cmd heading: 20.126532 deg.

2021-01-28T00:10:12.346Z,1611792612.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:13.112Z,1611792613.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:13.512Z,1611792613.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:14.326Z,1611792614.326 [Micromodem](INFO): Nmea in: $SNTTA,0.042981,,,,001014.86*4C

2021-01-28T00:10:14.391Z,1611792614.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.260010 m, bearing: 9.993480 deg, deltaT: 4.442130 s, approachRate: -0.688858 m/s, LOS rate: 0.023604 deg/s, posRepo size: 4
2021-01-28T00:10:14.393Z,1611792614.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.260010 m,
      bearing: 9.993480 deg,
      approachRate: -0.688858 m/s,
      LOS rate: 0.023604 deg/s,
      cmd update: 0.094416 deg/s,
      cmd heading: 15.859913 deg,
      new cmd heading: 15.535353 deg.

2021-01-28T00:10:16.756Z,1611792616.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:17.543Z,1611792617.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:17.944Z,1611792617.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:18.785Z,1611792618.785 [Micromodem](INFO): Nmea in: $SNTTA,0.041116,,,,001019.29*41

2021-01-28T00:10:18.819Z,1611792618.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.439999 m, bearing: 10.384989 deg, deltaT: 4.469940 s, approachRate: -0.630883 m/s, LOS rate: 0.087587 deg/s, posRepo size: 4
2021-01-28T00:10:18.821Z,1611792618.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.439999 m,
      bearing: 10.384989 deg,
      approachRate: -0.630883 m/s,
      LOS rate: 0.087587 deg/s,
      cmd update: 0.350348 deg/s,
      cmd heading: 16.282339 deg,
      new cmd heading: 16.319823 deg.

2021-01-28T00:10:21.243Z,1611792621.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:21.991Z,1611792621.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:22.420Z,1611792622.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:23.237Z,1611792623.237 [Micromodem](INFO): Nmea in: $SNTTA,0.039165,,,,001023.74*4B

2021-01-28T00:10:23.262Z,1611792623.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 11.722403 deg, deltaT: 4.423590 s, approachRate: -0.556109 m/s, LOS rate: 0.302337 deg/s, posRepo size: 4
2021-01-28T00:10:23.264Z,1611792623.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.980000 m,
      bearing: 11.722403 deg,
      approachRate: -0.556109 m/s,
      LOS rate: 0.302337 deg/s,
      cmd update: 1.209347 deg/s,
      cmd heading: 17.829114 deg,
      new cmd heading: 17.977984 deg.

2021-01-28T00:10:25.656Z,1611792625.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:26.434Z,1611792626.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:26.836Z,1611792626.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:27.669Z,1611792627.669 [Micromodem](INFO): Nmea in: $SNTTA,0.037265,,,,001028.18*47

2021-01-28T00:10:27.694Z,1611792627.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.740002 m, bearing: 9.856708 deg, deltaT: 4.433468 s, approachRate: -0.730804 m/s, LOS rate: -0.420821 deg/s, posRepo size: 4
2021-01-28T00:10:27.696Z,1611792627.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.740002 m,
      bearing: 9.856708 deg,
      approachRate: -0.730804 m/s,
      LOS rate: -0.420821 deg/s,
      cmd update: -1.683282 deg/s,
      cmd heading: 23.201093 deg,
      new cmd heading: 23.703267 deg.

2021-01-28T00:10:30.093Z,1611792630.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:30.866Z,1611792630.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:31.286Z,1611792631.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:32.113Z,1611792632.113 [Micromodem](INFO): Nmea in: $SNTTA,0.035313,,,,001032.61*40

2021-01-28T00:10:32.129Z,1611792632.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 9.306335 deg, deltaT: 4.437497 s, approachRate: -0.676058 m/s, LOS rate: -0.124028 deg/s, posRepo size: 4
2021-01-28T00:10:32.131Z,1611792632.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.739998 m,
      bearing: 9.306335 deg,
      approachRate: -0.676058 m/s,
      LOS rate: -0.124028 deg/s,
      cmd update: -0.496111 deg/s,
      cmd heading: 15.731588 deg,
      new cmd heading: 15.037264 deg.

2021-01-28T00:10:34.556Z,1611792634.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:35.310Z,1611792635.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:35.724Z,1611792635.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:36.565Z,1611792636.565 [Micromodem](INFO): Nmea in: $SNTTA,0.033460,,,,001037.05*42

2021-01-28T00:10:36.640Z,1611792636.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 9.971850 deg, deltaT: 4.441070 s, approachRate: -0.621471 m/s, LOS rate: 0.149855 deg/s, posRepo size: 4
2021-01-28T00:10:36.642Z,1611792636.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 9.971850 deg,
      approachRate: -0.621471 m/s,
      LOS rate: 0.149855 deg/s,
      cmd update: 0.599418 deg/s,
      cmd heading: 13.528612 deg,
      new cmd heading: 13.289120 deg.

2021-01-28T00:10:39.003Z,1611792639.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:39.771Z,1611792639.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:40.195Z,1611792640.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:41.013Z,1611792641.013 [Micromodem](INFO): Nmea in: $SNTTA,0.031440,,,,001041.52*41

2021-01-28T00:10:41.035Z,1611792641.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.919994 m, bearing: 10.650716 deg, deltaT: 4.448694 s, approachRate: -0.687844 m/s, LOS rate: 0.152599 deg/s, posRepo size: 4
2021-01-28T00:10:41.037Z,1611792641.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.919994 m,
      bearing: 10.650716 deg,
      approachRate: -0.687844 m/s,
      LOS rate: 0.152599 deg/s,
      cmd update: 0.610396 deg/s,
      cmd heading: 16.195710 deg,
      new cmd heading: 16.452839 deg.

2021-01-28T00:10:43.445Z,1611792643.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:44.241Z,1611792644.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:44.608Z,1611792644.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:45.435Z,1611792645.435 [Micromodem](INFO): Nmea in: $SNTTA,0.029320,,,,001045.99*4A

2021-01-28T00:10:45.485Z,1611792645.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 10.674429 deg, deltaT: 4.418019 s, approachRate: -0.706198 m/s, LOS rate: 0.005367 deg/s, posRepo size: 4
2021-01-28T00:10:45.487Z,1611792645.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.799999 m,
      bearing: 10.674429 deg,
      approachRate: -0.706198 m/s,
      LOS rate: 0.005367 deg/s,
      cmd update: 0.021469 deg/s,
      cmd heading: 18.892429 deg,
      new cmd heading: 19.173510 deg.

2021-01-28T00:10:47.854Z,1611792647.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:48.646Z,1611792648.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:49.060Z,1611792649.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:49.889Z,1611792649.889 [Micromodem](INFO): Nmea in: $SNTTA,0.027363,,,,001050.39*4D

2021-01-28T00:10:49.905Z,1611792649.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.859997 m, bearing: 10.066617 deg, deltaT: 4.477638 s, approachRate: -0.656597 m/s, LOS rate: -0.135744 deg/s, posRepo size: 4
2021-01-28T00:10:49.906Z,1611792649.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.859997 m,
      bearing: 10.066617 deg,
      approachRate: -0.656597 m/s,
      LOS rate: -0.135744 deg/s,
      cmd update: -0.542975 deg/s,
      cmd heading: 18.988556 deg,
      new cmd heading: 18.997201 deg.

2021-01-28T00:10:52.353Z,1611792652.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:53.094Z,1611792653.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:53.508Z,1611792653.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:54.352Z,1611792654.352 [Micromodem](INFO): Nmea in: $SNTTA,0.025293,,,,001054.84*43

2021-01-28T00:10:54.416Z,1611792654.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 12.407812 deg, deltaT: 4.415457 s, approachRate: -0.543545 m/s, LOS rate: 0.530227 deg/s, posRepo size: 4
2021-01-28T00:10:54.417Z,1611792654.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m.
2021-01-28T00:10:54.418Z,1611792654.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.459995 m,
      bearing: 12.407812 deg,
      approachRate: -0.543545 m/s,
      LOS rate: 0.530227 deg/s,
      cmd update: 2.120908 deg/s,
      cmd heading: 16.591012 deg,
      new cmd heading: 16.320355 deg.

2021-01-28T00:10:54.750Z,1611792654.750 [PowerOnly](INFO): Powering up loadControl
2021-01-28T00:10:56.772Z,1611792656.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:10:57.531Z,1611792657.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:10:57.957Z,1611792657.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:10:58.789Z,1611792658.789 [Micromodem](INFO): Nmea in: $SNTTA,0.023309,,,,001059.28*4C

2021-01-28T00:10:58.822Z,1611792658.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 7.250014 deg, deltaT: 4.496730 s, approachRate: -0.827266 m/s, LOS rate: -1.147011 deg/s, posRepo size: 4
2021-01-28T00:10:58.823Z,1611792658.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m.
2021-01-28T00:10:58.826Z,1611792658.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.740002 m,
      bearing: 7.250014 deg,
      approachRate: -0.827266 m/s,
      LOS rate: -1.147011 deg/s,
      cmd update: -4.588044 deg/s,
      cmd heading: 26.127941 deg,
      new cmd heading: 26.987989 deg.

2021-01-28T00:11:01.226Z,1611792661.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:01.986Z,1611792661.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:02.412Z,1611792662.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:03.225Z,1611792663.225 [Micromodem](INFO): Nmea in: $SNTTA,0.021312,,,,001103.73*44

2021-01-28T00:11:03.260Z,1611792663.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.580002 m, bearing: 6.902973 deg, deltaT: 4.423616 s, approachRate: -0.488288 m/s, LOS rate: -0.078452 deg/s, posRepo size: 4
2021-01-28T00:11:03.261Z,1611792663.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.58 m.
2021-01-28T00:11:03.263Z,1611792663.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.580002 m,
      bearing: 6.902973 deg,
      approachRate: -0.488288 m/s,
      LOS rate: -0.078452 deg/s,
      cmd update: -0.313807 deg/s,
      cmd heading: 5.850494 deg,
      new cmd heading: 3.893097 deg.

2021-01-28T00:11:05.640Z,1611792665.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:06.426Z,1611792666.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:06.836Z,1611792666.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:07.677Z,1611792667.677 [Micromodem](INFO): Nmea in: $SNTTA,0.019409,,,,001108.17*4B

2021-01-28T00:11:07.703Z,1611792667.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.860003 m, bearing: 7.306156 deg, deltaT: 4.452214 s, approachRate: -0.835539 m/s, LOS rate: 0.090558 deg/s, posRepo size: 4
2021-01-28T00:11:07.703Z,1611792667.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.86 m.
2021-01-28T00:11:07.705Z,1611792667.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.860003 m,
      bearing: 7.306156 deg,
      approachRate: -0.835539 m/s,
      LOS rate: 0.090558 deg/s,
      cmd update: 0.362232 deg/s,
      cmd heading: 4.452108 deg,
      new cmd heading: 4.322536 deg.

2021-01-28T00:11:10.074Z,1611792670.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:10.870Z,1611792670.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:11.272Z,1611792671.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:12.115Z,1611792672.115 [Micromodem](INFO): Nmea in: $SNTTA,0.017577,,,,001112.61*47

2021-01-28T00:11:12.135Z,1611792672.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.099998 m, bearing: 9.394373 deg, deltaT: 4.425671 s, approachRate: -0.623635 m/s, LOS rate: 0.471842 deg/s, posRepo size: 4
2021-01-28T00:11:12.136Z,1611792672.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.10 m.
2021-01-28T00:11:12.138Z,1611792672.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.099998 m,
      bearing: 9.394373 deg,
      approachRate: -0.623635 m/s,
      LOS rate: 0.471842 deg/s,
      cmd update: 1.887367 deg/s,
      cmd heading: 6.053764 deg,
      new cmd heading: 6.207305 deg.

2021-01-28T00:11:14.554Z,1611792674.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:15.311Z,1611792675.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:15.726Z,1611792675.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:16.561Z,1611792676.561 [Micromodem](INFO): Nmea in: $SNTTA,0.015715,,,,001117.06*47

2021-01-28T00:11:16.596Z,1611792676.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.339998 m, bearing: 11.893966 deg, deltaT: 4.438298 s, approachRate: -0.621860 m/s, LOS rate: 0.563187 deg/s, posRepo size: 4
2021-01-28T00:11:16.597Z,1611792676.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.34 m.
2021-01-28T00:11:16.598Z,1611792676.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.339998 m,
      bearing: 11.893966 deg,
      approachRate: -0.621860 m/s,
      LOS rate: 0.563187 deg/s,
      cmd update: 2.252749 deg/s,
      cmd heading: 14.398831 deg,
      new cmd heading: 15.272402 deg.

2021-01-28T00:11:19.042Z,1611792679.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:19.754Z,1611792679.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:20.164Z,1611792680.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:20.994Z,1611792680.994 [Micromodem](INFO): Nmea in: $SNTTA,0.013845,,,,001121.50*4D

2021-01-28T00:11:21.032Z,1611792681.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 12.310270 deg, deltaT: 4.459438 s, approachRate: -0.632367 m/s, LOS rate: 0.093354 deg/s, posRepo size: 4
2021-01-28T00:11:21.033Z,1611792681.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.52 m.
2021-01-28T00:11:21.034Z,1611792681.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.519997 m,
      bearing: 12.310270 deg,
      approachRate: -0.632367 m/s,
      LOS rate: 0.093354 deg/s,
      cmd update: 0.373414 deg/s,
      cmd heading: 24.455009 deg,
      new cmd heading: 25.398746 deg.

2021-01-28T00:11:23.466Z,1611792683.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:24.224Z,1611792684.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:24.610Z,1611792684.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:24.971Z,1611792684.971 [DDM](FAULT): Failed to extend whisker before timeout.
2021-01-28T00:11:24.971Z,1611792684.971 [DDM] Hardware Fault, FailCount= 1
2021-01-28T00:11:24.971Z,1611792684.971 [DDM](ERROR): Hardware Fault
2021-01-28T00:11:25.096Z,1611792685.096 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-28T00:11:25.409Z,1611792685.409 [DDM](INFO): Powering down
2021-01-28T00:11:25.497Z,1611792685.497 [Micromodem](INFO): Nmea in: $SNTTA,0.011967,,,,001125.97*41

2021-01-28T00:11:25.532Z,1611792685.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 8.656234 deg, deltaT: 4.390750 s, approachRate: -0.628594 m/s, LOS rate: -0.832212 deg/s, posRepo size: 4
2021-01-28T00:11:25.533Z,1611792685.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.76 m.
2021-01-28T00:11:25.534Z,1611792685.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 8.656234 deg,
      approachRate: -0.628594 m/s,
      LOS rate: -0.832212 deg/s,
      cmd update: -3.328849 deg/s,
      cmd heading: 26.099771 deg,
      new cmd heading: 26.297749 deg.

2021-01-28T00:11:26.333Z,1611792686.333 [CBIT](INFO): Clearing failed state for component DDM
2021-01-28T00:11:26.334Z,1611792686.334 [DDM] No Fault, FailCount= 1
2021-01-28T00:11:27.833Z,1611792687.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:28.610Z,1611792688.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:29.040Z,1611792689.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:29.844Z,1611792689.844 [Micromodem](INFO): Nmea in: $SNTTA,0.010090,,,,001130.36*4E

2021-01-28T00:11:29.868Z,1611792689.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.940002 m, bearing: 5.501602 deg, deltaT: 4.493072 s, approachRate: -0.627632 m/s, LOS rate: -0.702110 deg/s, posRepo size: 4
2021-01-28T00:11:29.869Z,1611792689.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.94 m.
2021-01-28T00:11:29.871Z,1611792689.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 5.501602 deg,
      approachRate: -0.627632 m/s,
      LOS rate: -0.702110 deg/s,
      cmd update: -2.808441 deg/s,
      cmd heading: 11.162813 deg,
      new cmd heading: 9.903157 deg.

2021-01-28T00:11:30.629Z,1611792690.629 [DDM](INFO): Powering up
2021-01-28T00:11:30.629Z,1611792690.629 [DDM](DEBUG): Initializing DDM.
2021-01-28T00:11:32.289Z,1611792692.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:33.070Z,1611792693.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:33.471Z,1611792693.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:34.293Z,1611792694.293 [Micromodem](INFO): Nmea in: $SNTTA,0.008274,,,,001134.81*47

2021-01-28T00:11:34.380Z,1611792694.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.179997 m, bearing: 9.912771 deg, deltaT: 4.405779 s, approachRate: -0.626451 m/s, LOS rate: 1.001223 deg/s, posRepo size: 4
2021-01-28T00:11:34.381Z,1611792694.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.18 m.
2021-01-28T00:11:34.383Z,1611792694.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.179997 m,
      bearing: 9.912771 deg,
      approachRate: -0.626451 m/s,
      LOS rate: 1.001223 deg/s,
      cmd update: 4.004893 deg/s,
      cmd heading: 358.766266 deg,
      new cmd heading: 357.437270 deg.

2021-01-28T00:11:36.723Z,1611792696.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:37.497Z,1611792697.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:37.916Z,1611792697.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:38.729Z,1611792698.729 [Micromodem](INFO): Nmea in: $SNTTA,0.006483,,,,001139.24*45

2021-01-28T00:11:38.770Z,1611792698.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.479997 m, bearing: 13.782998 deg, deltaT: 4.476220 s, approachRate: -0.603188 m/s, LOS rate: 0.864620 deg/s, posRepo size: 4
2021-01-28T00:11:38.771Z,1611792698.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 9.48 m.
2021-01-28T00:11:38.773Z,1611792698.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 13.782998 deg,
      approachRate: -0.603188 m/s,
      LOS rate: 0.864620 deg/s,
      cmd update: 3.458478 deg/s,
      cmd heading: 16.677281 deg,
      new cmd heading: 18.260167 deg.

2021-01-28T00:11:41.171Z,1611792701.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:41.942Z,1611792701.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:42.374Z,1611792702.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:43.173Z,1611792703.173 [Micromodem](INFO): Nmea in: $SNTTA,0.004819,,,0.008511,001143.69*5F

2021-01-28T00:11:43.243Z,1611792703.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 15.764485 deg, deltaT: 4.402512 s, approachRate: -0.572400 m/s, LOS rate: 0.450081 deg/s, posRepo size: 4
2021-01-28T00:11:43.243Z,1611792703.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 6.96 m.
2021-01-28T00:11:43.250Z,1611792703.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 15.764485 deg,
      approachRate: -0.572400 m/s,
      LOS rate: 0.450081 deg/s,
      cmd update: 1.800324 deg/s,
      cmd heading: 31.862015 deg,
      new cmd heading: 33.513359 deg.

2021-01-28T00:11:45.602Z,1611792705.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:46.382Z,1611792706.382 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-28T00:11:46.506Z,1611792706.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:46.841Z,1611792706.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:47.729Z,1611792707.729 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-28T00:11:47.729Z,1611792707.729 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:11:47.729Z,1611792707.729 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-28T00:11:47.729Z,1611792707.729 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:11:47.729Z,1611792707.729 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-28T00:11:47.730Z,1611792707.730 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 
2021-01-28T00:11:47.730Z,1611792707.730 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-28T00:11:47.730Z,1611792707.730 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-28T00:11:47.730Z,1611792707.730 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-28T00:11:47.733Z,1611792707.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 21.008422 deg, deltaT: 4.531595 s, approachRate: -0.582577 m/s, LOS rate: 1.157195 deg/s, posRepo size: 4
2021-01-28T00:11:47.733Z,1611792707.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.32 m.
2021-01-28T00:11:47.735Z,1611792707.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 21.008422 deg,
      approachRate: -0.582577 m/s,
      LOS rate: 1.157195 deg/s,
      cmd update: 4.628779 deg/s,
      cmd heading: 40.030479 deg,
      new cmd heading: 40.804215 deg.

2021-01-28T00:11:48.077Z,1611792708.077 [Micromodem](INFO): Nmea in: $SNTTA,0.003037,,,,001148.25*4C

2021-01-28T00:11:48.098Z,1611792708.098 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210128T001148: (41.551998, -70.709610)
2021-01-28T00:11:48.098Z,1611792708.098 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-28T00:11:48.098Z,1611792708.098 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-28T00:11:48.099Z,1611792708.099 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:11:48.099Z,1611792708.099 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-28T00:11:48.099Z,1611792708.099 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:11:48.099Z,1611792708.099 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-28T00:11:48.099Z,1611792708.099 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-28T00:11:48.099Z,1611792708.099 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:11:50.090Z,1611792710.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:50.878Z,1611792710.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:51.395Z,1611792711.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:52.121Z,1611792712.121 [Micromodem](INFO): Nmea in: $SNTTA,0.001939,,,,001152.62*41

2021-01-28T00:11:52.137Z,1611792712.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.759999 m, bearing: 29.547316 deg, deltaT: 4.402765 s, approachRate: -0.354323 m/s, LOS rate: 1.939439 deg/s, posRepo size: 4
2021-01-28T00:11:52.137Z,1611792712.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 2.76 m.
2021-01-28T00:11:52.139Z,1611792712.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 29.547316 deg,
      approachRate: -0.354323 m/s,
      LOS rate: 1.939439 deg/s,
      cmd update: 7.757756 deg/s,
      cmd heading: 60.457562 deg,
      new cmd heading: 62.405449 deg.

2021-01-28T00:11:54.585Z,1611792714.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:55.322Z,1611792715.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:11:55.728Z,1611792715.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:11:56.563Z,1611792716.563 [Micromodem](INFO): Nmea in: $SNTTA,0.002499,,,,001157.12*47

2021-01-28T00:11:56.583Z,1611792716.583 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-01-28T00:11:56.627Z,1611792716.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 51.589727 deg, deltaT: 4.441448 s, approachRate: 0.121582 m/s, LOS rate: 4.962888 deg/s, posRepo size: 4
2021-01-28T00:11:56.627Z,1611792716.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 3.30 m.
2021-01-28T00:11:56.629Z,1611792716.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 51.589727 deg,
      approachRate: 0.121582 m/s,
      LOS rate: 4.962888 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 94.913512 deg,
      new cmd heading: 98.554607 deg.

2021-01-28T00:11:59.050Z,1611792719.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:11:59.762Z,1611792719.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:00.189Z,1611792720.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:01.021Z,1611792721.021 [Micromodem](INFO): Nmea in: $SNTTA,0.003143,,,,001201.51*43

2021-01-28T00:12:01.043Z,1611792721.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 73.744740 deg, deltaT: 4.472600 s, approachRate: 0.281715 m/s, LOS rate: 4.953497 deg/s, posRepo size: 4
2021-01-28T00:12:01.044Z,1611792721.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.56 m.
2021-01-28T00:12:01.046Z,1611792721.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 73.744740 deg,
      approachRate: 0.281715 m/s,
      LOS rate: 4.953497 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 148.584221 deg,
      new cmd heading: 153.541433 deg.

2021-01-28T00:12:03.457Z,1611792723.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:04.229Z,1611792724.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:04.656Z,1611792724.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:05.477Z,1611792725.477 [Micromodem](INFO): Nmea in: $SNTTA,0.004096,,,,001205.97*43

2021-01-28T00:12:05.513Z,1611792725.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 50.834820 deg, deltaT: 4.463292 s, approachRate: 0.322632 m/s, LOS rate: -5.132964 deg/s, posRepo size: 4
2021-01-28T00:12:05.513Z,1611792725.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 6.00 m.
2021-01-28T00:12:05.513Z,1611792725.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 6.00 m.
2021-01-28T00:12:05.514Z,1611792725.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-28T00:12:05.515Z,1611792725.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 50.834820 deg,
      approachRate: 0.322632 m/s,
      LOS rate: -5.132964 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 202.145311 deg,
      new cmd heading: 207.173275 deg.

2021-01-28T00:12:07.900Z,1611792727.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:08.682Z,1611792728.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:09.092Z,1611792729.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:09.925Z,1611792729.925 [Micromodem](INFO): Nmea in: $SNTTA,0.005579,,,,001210.43*4B

2021-01-28T00:12:09.947Z,1611792729.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 71.667344 deg, deltaT: 4.450852 s, approachRate: 0.498781 m/s, LOS rate: 4.680570 deg/s, posRepo size: 4
2021-01-28T00:12:09.949Z,1611792729.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 71.667344 deg,
      approachRate: 0.498781 m/s,
      LOS rate: 4.680570 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 148.883489 deg,
      new cmd heading: 143.897165 deg.

2021-01-28T00:12:12.383Z,1611792732.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:13.130Z,1611792733.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:13.528Z,1611792733.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:14.377Z,1611792734.377 [Micromodem](INFO): Nmea in: $SNTTA,0.007468,,,,001214.88*4B

2021-01-28T00:12:14.420Z,1611792734.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.980000 m, bearing: 56.189890 deg, deltaT: 4.424708 s, approachRate: 0.623770 m/s, LOS rate: -3.497961 deg/s, posRepo size: 4
2021-01-28T00:12:14.421Z,1611792734.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 10.98 m. Rolling out.
2021-01-28T00:12:14.421Z,1611792734.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-28T00:12:16.764Z,1611792736.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:17.584Z,1611792737.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:17.972Z,1611792737.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:18.801Z,1611792738.801 [Micromodem](INFO): Nmea in: $SNTTA,0.008606,,,,001219.33*43

2021-01-28T00:12:18.837Z,1611792738.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.019999 m, bearing: 113.701804 deg, deltaT: 4.479107 s, approachRate: 0.455448 m/s, LOS rate: 12.840040 deg/s, posRepo size: 4
2021-01-28T00:12:21.257Z,1611792741.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:22.012Z,1611792742.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:22.440Z,1611792742.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:23.273Z,1611792743.273 [Micromodem](INFO): Nmea in: $SNTTA,0.009704,,,,001223.76*49

2021-01-28T00:12:23.363Z,1611792743.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.700000 m, bearing: 107.937029 deg, deltaT: 4.409923 s, approachRate: 0.380959 m/s, LOS rate: -1.307228 deg/s, posRepo size: 4
2021-01-28T00:12:24.985Z,1611792744.985 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2021-01-28T00:12:24.985Z,1611792744.985 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2021-01-28T00:12:24.985Z,1611792744.985 [ThrusterServo] Communications Fault, FailCount= 1
2021-01-28T00:12:24.985Z,1611792744.985 [ThrusterServo](ERROR): Communications Fault
2021-01-28T00:12:24.991Z,1611792744.991 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-01-28T00:12:25.377Z,1611792745.377 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-01-28T00:12:25.377Z,1611792745.377 [ThrusterServo](INFO): Powering down
2021-01-28T00:12:25.700Z,1611792745.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:26.094Z,1611792746.094 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-01-28T00:12:26.215Z,1611792746.215 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-01-28T00:12:26.222Z,1611792746.222 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-01-28T00:12:26.222Z,1611792746.222 [ThrusterServo] No Fault, FailCount= 1
2021-01-28T00:12:26.458Z,1611792746.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:26.878Z,1611792746.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:27.705Z,1611792747.705 [Micromodem](INFO): Nmea in: $SNTTA,0.010985,,,,001228.20*4E

2021-01-28T00:12:27.751Z,1611792747.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.559999 m, bearing: 150.078900 deg, deltaT: 4.436871 s, approachRate: 0.419214 m/s, LOS rate: 9.498106 deg/s, posRepo size: 4
2021-01-28T00:12:29.337Z,1611792749.337 [PowerOnly](INFO): Powering down loadControl
2021-01-28T00:12:30.166Z,1611792750.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:30.914Z,1611792750.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:31.324Z,1611792751.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:32.158Z,1611792752.158 [Micromodem](INFO): Nmea in: $SNTTA,0.011784,,,,001232.66*49

2021-01-28T00:12:32.230Z,1611792752.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 134.517215 deg, deltaT: 4.455726 s, approachRate: 0.201987 m/s, LOS rate: -3.492514 deg/s, posRepo size: 4
2021-01-28T00:12:34.602Z,1611792754.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:35.375Z,1611792755.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:35.765Z,1611792755.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:36.581Z,1611792756.581 [Micromodem](INFO): Nmea in: $SNTTA,0.012073,,,,001237.12*43

2021-01-28T00:12:36.637Z,1611792756.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.240002 m, bearing: 191.044598 deg, deltaT: 4.472680 s, approachRate: 0.174393 m/s, LOS rate: 12.638369 deg/s, posRepo size: 4
2021-01-28T00:12:39.056Z,1611792759.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:39.794Z,1611792759.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:40.232Z,1611792760.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:41.041Z,1611792761.041 [Micromodem](INFO): Nmea in: $SNTTA,0.012628,,,,001241.54*48

2021-01-28T00:12:41.076Z,1611792761.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.020000 m, bearing: 210.331058 deg, deltaT: 4.453394 s, approachRate: 0.175147 m/s, LOS rate: 4.330733 deg/s, posRepo size: 4
2021-01-28T00:12:43.477Z,1611792763.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:44.255Z,1611792764.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:44.644Z,1611792764.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:45.482Z,1611792765.482 [Micromodem](INFO): Nmea in: $SNTTA,0.013236,,,,001246.00*44

2021-01-28T00:12:45.536Z,1611792765.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.919998 m, bearing: 243.152412 deg, deltaT: 4.398609 s, approachRate: 0.204610 m/s, LOS rate: 7.461757 deg/s, posRepo size: 4
2021-01-28T00:12:47.898Z,1611792767.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:48.678Z,1611792768.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:49.101Z,1611792769.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:49.933Z,1611792769.933 [Micromodem](INFO): Nmea in: $SNTTA,0.013572,,,,001250.42*42

2021-01-28T00:12:49.955Z,1611792769.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.339998 m, bearing: 158.265360 deg, deltaT: 4.477014 s, approachRate: 0.093813 m/s, LOS rate: -18.960641 deg/s, posRepo size: 4
2021-01-28T00:12:52.400Z,1611792772.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:53.134Z,1611792773.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:53.540Z,1611792773.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:54.394Z,1611792774.394 [Micromodem](INFO): Nmea in: $SNTTA,0.013682,,,,001254.88*4C

2021-01-28T00:12:54.473Z,1611792774.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 273.681637 deg, deltaT: 4.401240 s, approachRate: 0.040897 m/s, LOS rate: 26.223582 deg/s, posRepo size: 4
2021-01-28T00:12:56.803Z,1611792776.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:12:57.580Z,1611792777.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:12:57.993Z,1611792777.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:12:58.833Z,1611792778.833 [Micromodem](INFO): Nmea in: $SNTTA,0.014129,,,,001259.32*41

2021-01-28T00:12:58.856Z,1611792778.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.179998 m, bearing: 271.116982 deg, deltaT: 4.481788 s, approachRate: 0.147263 m/s, LOS rate: -0.572239 deg/s, posRepo size: 4
2021-01-28T00:13:01.251Z,1611792781.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:02.014Z,1611792782.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:02.424Z,1611792782.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:03.265Z,1611792783.265 [Micromodem](INFO): Nmea in: $SNTTA,0.015020,,,,001303.76*46

2021-01-28T00:13:03.289Z,1611792783.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 248.198720 deg, deltaT: 4.412784 s, approachRate: 0.312728 m/s, LOS rate: -5.193606 deg/s, posRepo size: 4
2021-01-28T00:13:05.715Z,1611792785.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:06.458Z,1611792786.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:06.864Z,1611792786.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:07.709Z,1611792787.709 [Micromodem](INFO): Nmea in: $SNTTA,0.016868,,,,001308.20*49

2021-01-28T00:13:07.763Z,1611792787.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.379997 m, bearing: 236.809762 deg, deltaT: 4.478832 s, approachRate: 0.629628 m/s, LOS rate: -2.542841 deg/s, posRepo size: 4
2021-01-28T00:13:10.162Z,1611792790.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:10.899Z,1611792790.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:11.304Z,1611792791.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:12.156Z,1611792792.156 [Micromodem](INFO): Nmea in: $SNTTA,0.017751,,,,001312.64*46

2021-01-28T00:13:12.229Z,1611792792.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.700003 m, bearing: 244.525499 deg, deltaT: 4.442261 s, approachRate: 0.297147 m/s, LOS rate: 1.736894 deg/s, posRepo size: 4
2021-01-28T00:13:14.624Z,1611792794.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:15.372Z,1611792795.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:15.756Z,1611792795.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:16.585Z,1611792796.585 [Micromodem](INFO): Nmea in: $SNTTA,0.019613,,,,001317.12*4B

2021-01-28T00:13:16.630Z,1611792796.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.580002 m, bearing: 243.582659 deg, deltaT: 4.447354 s, approachRate: 0.647576 m/s, LOS rate: -0.212000 deg/s, posRepo size: 4
2021-01-28T00:13:19.028Z,1611792799.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:19.798Z,1611792799.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:20.200Z,1611792800.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:21.049Z,1611792801.049 [Micromodem](INFO): Nmea in: $SNTTA,0.022368,,,,001321.54*4D

2021-01-28T00:13:21.064Z,1611792801.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.539997 m, bearing: 218.249174 deg, deltaT: 4.439669 s, approachRate: 0.891957 m/s, LOS rate: -5.706165 deg/s, posRepo size: 4
2021-01-28T00:13:23.500Z,1611792803.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:24.262Z,1611792804.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:24.732Z,1611792804.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:25.557Z,1611792805.557 [Micromodem](INFO): Nmea in: $SNTTA,0.024122,,0.037319,,001326.01*51

2021-01-28T00:13:25.594Z,1611792805.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.299995 m, bearing: 207.961201 deg, deltaT: 4.573439 s, approachRate: 0.603484 m/s, LOS rate: -2.249505 deg/s, posRepo size: 4
2021-01-28T00:13:27.986Z,1611792807.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:28.778Z,1611792808.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:29.186Z,1611792809.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:30.017Z,1611792810.017 [Micromodem](INFO): Nmea in: $SNTTA,0.026495,,,,001330.52*4A

2021-01-28T00:13:30.057Z,1611792810.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 204.301135 deg, deltaT: 4.397996 s, approachRate: 0.818556 m/s, LOS rate: -0.832212 deg/s, posRepo size: 4
2021-01-28T00:13:32.484Z,1611792812.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:33.214Z,1611792813.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:33.623Z,1611792813.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:34.457Z,1611792814.457 [Micromodem](INFO): Nmea in: $SNTTA,0.029062,,,,001334.96*45

2021-01-28T00:13:34.497Z,1611792814.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.739998 m, bearing: 196.439492 deg, deltaT: 4.442978 s, approachRate: 0.864284 m/s, LOS rate: -1.769454 deg/s, posRepo size: 4
2021-01-28T00:13:36.897Z,1611792816.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:37.666Z,1611792817.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:38.064Z,1611792818.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:38.935Z,1611792818.935 [Micromodem](INFO): Nmea in: $SNTTA,0.031562,,,,001339.41*4E

2021-01-28T00:13:38.959Z,1611792818.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.459999 m, bearing: 191.605862 deg, deltaT: 4.462483 s, approachRate: 0.833617 m/s, LOS rate: -1.083170 deg/s, posRepo size: 4
2021-01-28T00:13:41.394Z,1611792821.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:42.116Z,1611792822.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:42.512Z,1611792822.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:43.353Z,1611792823.353 [Micromodem](INFO): Nmea in: $SNTTA,0.034176,,,,001343.86*4C

2021-01-28T00:13:43.421Z,1611792823.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 186.659959 deg, deltaT: 4.396145 s, approachRate: 0.887141 m/s, LOS rate: -1.125055 deg/s, posRepo size: 4
2021-01-28T00:13:45.754Z,1611792825.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:46.550Z,1611792826.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:46.968Z,1611792826.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:47.795Z,1611792827.795 [Micromodem](INFO): Nmea in: $SNTTA,0.036677,,,,001348.30*4E

2021-01-28T00:13:47.815Z,1611792827.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.080002 m, bearing: 179.293408 deg, deltaT: 4.523102 s, approachRate: 0.822445 m/s, LOS rate: -1.628650 deg/s, posRepo size: 4
2021-01-28T00:13:50.254Z,1611792830.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:50.996Z,1611792830.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:51.420Z,1611792831.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:52.253Z,1611792832.253 [Micromodem](INFO): Nmea in: $SNTTA,0.039214,,,,001352.74*4B

2021-01-28T00:13:52.293Z,1611792832.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 160.687932 deg, deltaT: 4.389353 s, approachRate: 0.874845 m/s, LOS rate: -4.238774 deg/s, posRepo size: 4
2021-01-28T00:13:54.664Z,1611792834.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:55.446Z,1611792835.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:13:55.844Z,1611792835.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:13:56.677Z,1611792836.677 [Micromodem](INFO): Nmea in: $SNTTA,0.041614,,,,001357.19*4E

2021-01-28T00:13:56.702Z,1611792836.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.520000 m, bearing: 171.664907 deg, deltaT: 4.448694 s, approachRate: 0.809225 m/s, LOS rate: 2.467460 deg/s, posRepo size: 4
2021-01-28T00:13:59.109Z,1611792839.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:13:59.878Z,1611792839.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:00.288Z,1611792840.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:01.130Z,1611792841.129 [Micromodem](INFO): Nmea in: $SNTTA,0.044052,,0.046770,,001401.62*5B

2021-01-28T00:14:01.151Z,1611792841.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.180000 m, bearing: 214.498403 deg, deltaT: 4.435145 s, approachRate: 0.825227 m/s, LOS rate: 9.657744 deg/s, posRepo size: 4
2021-01-28T00:14:01.526Z,1611792841.526 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:14:03.601Z,1611792843.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:04.323Z,1611792844.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:04.736Z,1611792844.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:05.573Z,1611792845.573 [Micromodem](INFO): Nmea in: $SNTTA,0.046489,,,,001406.07*43

2021-01-28T00:14:05.624Z,1611792845.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.840004 m, bearing: 216.343606 deg, deltaT: 4.425824 s, approachRate: 0.826965 m/s, LOS rate: 0.416917 deg/s, posRepo size: 4
2021-01-28T00:14:07.991Z,1611792847.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:08.770Z,1611792848.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:09.225Z,1611792849.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:10.016Z,1611792850.016 [Micromodem](INFO): Nmea in: $SNTTA,0.049017,,,,001410.52*48

2021-01-28T00:14:10.040Z,1611792850.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.680000 m, bearing: 215.734995 deg, deltaT: 4.465839 s, approachRate: 0.859860 m/s, LOS rate: -0.136281 deg/s, posRepo size: 4
2021-01-28T00:14:12.477Z,1611792852.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:13.246Z,1611792853.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:13.624Z,1611792853.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:14.439Z,1611792854.439 [Micromodem](INFO): Nmea in: $SNTTA,0.051492,,,,001414.99*4B

2021-01-28T00:14:14.486Z,1611792854.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 215.508711 deg, deltaT: 4.422357 s, approachRate: 0.841181 m/s, LOS rate: -0.051168 deg/s, posRepo size: 4
2021-01-28T00:14:14.845Z,1611792854.845 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,001416,C42
 expected 3
2021-01-28T00:14:16.905Z,1611792856.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:17.662Z,1611792857.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:18.059Z,1611792858.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:18.905Z,1611792858.905 [Micromodem](INFO): Nmea in: $SNTTA,0.054016,,,,001419.41*4E

2021-01-28T00:14:18.927Z,1611792858.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.120003 m, bearing: 219.983099 deg, deltaT: 4.470475 s, approachRate: 0.832127 m/s, LOS rate: 1.000875 deg/s, posRepo size: 4
2021-01-28T00:14:21.346Z,1611792861.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:22.098Z,1611792862.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:22.512Z,1611792862.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:23.360Z,1611792863.360 [Micromodem](INFO): Nmea in: $SNTTA,0.056617,,,,001423.84*4B

2021-01-28T00:14:23.409Z,1611792863.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.080002 m, bearing: 217.441067 deg, deltaT: 4.421103 s, approachRate: 0.895704 m/s, LOS rate: -0.574977 deg/s, posRepo size: 4
2021-01-28T00:14:25.767Z,1611792865.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:26.550Z,1611792866.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:26.956Z,1611792866.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:27.789Z,1611792867.789 [Micromodem](INFO): Nmea in: $SNTTA,0.059203,,,,001428.29*49

2021-01-28T00:14:27.805Z,1611792867.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 212.234605 deg, deltaT: 4.481516 s, approachRate: 0.870242 m/s, LOS rate: -1.161764 deg/s, posRepo size: 4
2021-01-28T00:14:30.267Z,1611792870.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:31.000Z,1611792871.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:31.416Z,1611792871.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:32.249Z,1611792872.249 [Micromodem](INFO): Nmea in: $SNTTA,0.061701,,,,001432.74*46

2021-01-28T00:14:32.274Z,1611792872.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.700005 m, bearing: 224.401152 deg, deltaT: 4.420574 s, approachRate: 0.841520 m/s, LOS rate: 2.752255 deg/s, posRepo size: 4
2021-01-28T00:14:34.663Z,1611792874.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:35.426Z,1611792875.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:35.841Z,1611792875.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:36.680Z,1611792876.680 [Micromodem](INFO): Nmea in: $SNTTA,0.064119,,,,001437.17*4C

2021-01-28T00:14:36.705Z,1611792876.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.660004 m, bearing: 219.876453 deg, deltaT: 4.457732 s, approachRate: 0.888344 m/s, LOS rate: -1.015023 deg/s, posRepo size: 4
2021-01-28T00:14:39.090Z,1611792879.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:39.882Z,1611792879.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:40.290Z,1611792880.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:41.126Z,1611792881.126 [Micromodem](INFO): Nmea in: $SNTTA,0.066683,,,,001441.63*48

2021-01-28T00:14:41.147Z,1611792881.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.500000 m, bearing: 211.665226 deg, deltaT: 4.441550 s, approachRate: 0.864562 m/s, LOS rate: -1.848730 deg/s, posRepo size: 4
2021-01-28T00:14:43.254Z,1611792883.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:43.930Z,1611792883.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:44.369Z,1611792884.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:44.403Z,1611792884.403 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-01-28T00:14:45.149Z,1611792885.149 [Micromodem](INFO): Nmea in: $SNTTA,0.068971,,,,001445.67*44

2021-01-28T00:14:45.227Z,1611792885.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.980003 m, bearing: 219.254345 deg, deltaT: 4.008928 s, approachRate: 0.868063 m/s, LOS rate: 1.893054 deg/s, posRepo size: 4
2021-01-28T00:14:47.598Z,1611792887.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:48.374Z,1611792888.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:48.772Z,1611792888.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:49.593Z,1611792889.593 [Micromodem](INFO): Nmea in: $SNTTA,0.071402,,,,001450.12*43

2021-01-28T00:14:49.629Z,1611792889.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.520004 m, bearing: 210.674576 deg, deltaT: 4.518601 s, approachRate: 0.783429 m/s, LOS rate: -1.898767 deg/s, posRepo size: 4
2021-01-28T00:14:52.023Z,1611792892.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:52.803Z,1611792892.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:53.240Z,1611792893.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:54.049Z,1611792894.049 [Micromodem](INFO): Nmea in: $SNTTA,0.073904,,,,001454.55*4D

2021-01-28T00:14:54.065Z,1611792894.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.300003 m, bearing: 213.998050 deg, deltaT: 4.394353 s, approachRate: 0.860195 m/s, LOS rate: 0.756306 deg/s, posRepo size: 4
2021-01-28T00:14:56.544Z,1611792896.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:14:57.294Z,1611792897.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:14:57.664Z,1611792897.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:14:58.487Z,1611792898.487 [Micromodem](INFO): Nmea in: $SNTTA,0.076428,,,,001459.04*42

2021-01-28T00:14:58.538Z,1611792898.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.720001 m, bearing: 215.925762 deg, deltaT: 4.426644 s, approachRate: 0.772594 m/s, LOS rate: 0.435479 deg/s, posRepo size: 4
2021-01-28T00:15:00.897Z,1611792900.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:01.699Z,1611792901.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:02.096Z,1611792902.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:02.937Z,1611792902.937 [Micromodem](INFO): Nmea in: $SNTTA,0.078663,,,,001503.44*4B

2021-01-28T00:15:02.959Z,1611792902.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 212.884852 deg, deltaT: 4.472189 s, approachRate: 0.818390 m/s, LOS rate: -0.679960 deg/s, posRepo size: 4
2021-01-28T00:15:05.408Z,1611792905.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:06.138Z,1611792906.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:06.540Z,1611792906.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:07.406Z,1611792907.406 [Micromodem](INFO): Nmea in: $SNTTA,0.081124,,,,001507.88*4D

2021-01-28T00:15:07.441Z,1611792907.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.800003 m, bearing: 213.934557 deg, deltaT: 4.414950 s, approachRate: 0.774642 m/s, LOS rate: 0.237761 deg/s, posRepo size: 4
2021-01-28T00:15:08.574Z,1611792908.574 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:15:09.443Z,1611792909.443 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:15:09.866Z,1611792909.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:10.586Z,1611792910.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:11.007Z,1611792911.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:11.829Z,1611792911.829 [Micromodem](INFO): Nmea in: $SNTTA,0.083524,,,,001512.33*4F

2021-01-28T00:15:11.844Z,1611792911.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.639999 m, bearing: 215.596287 deg, deltaT: 4.480130 s, approachRate: 0.857117 m/s, LOS rate: 0.370911 deg/s, posRepo size: 4
2021-01-28T00:15:14.272Z,1611792914.272 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-28T00:15:14.287Z,1611792914.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:15.030Z,1611792915.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:15.449Z,1611792915.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:16.289Z,1611792916.289 [Micromodem](INFO): Nmea in: $SNTTA,0.086009,,,,001516.77*44

2021-01-28T00:15:16.354Z,1611792916.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.899994 m, bearing: 205.463934 deg, deltaT: 4.420897 s, approachRate: 0.963604 m/s, LOS rate: -2.291922 deg/s, posRepo size: 4
2021-01-28T00:15:18.374Z,1611792918.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:19.066Z,1611792919.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:19.464Z,1611792919.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:19.506Z,1611792919.506 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:15:20.353Z,1611792920.353 [Micromodem](INFO): Nmea in: $SNTTA,0.088333,,,,001520.81*4C

2021-01-28T00:15:20.409Z,1611792920.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.900009 m, bearing: 223.681974 deg, deltaT: 4.023902 s, approachRate: 0.745549 m/s, LOS rate: 4.527456 deg/s, posRepo size: 4
2021-01-28T00:15:22.416Z,1611792922.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:23.114Z,1611792923.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:23.572Z,1611792923.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:24.437Z,1611792924.437 [Micromodem](INFO): Nmea in: $SNTTA,0.090650,,,,001524.86*46

2021-01-28T00:15:24.455Z,1611792924.455 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:15:24.496Z,1611792924.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.260010 m, bearing: 219.121621 deg, deltaT: 4.070944 s, approachRate: 0.825362 m/s, LOS rate: -1.120220 deg/s, posRepo size: 4
2021-01-28T00:15:26.754Z,1611792926.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:27.552Z,1611792927.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:27.952Z,1611792927.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:28.797Z,1611792928.797 [Micromodem](INFO): Nmea in: $SNTTA,0.093107,,,,001529.30*40

2021-01-28T00:15:28.819Z,1611792928.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.919998 m, bearing: 220.442156 deg, deltaT: 4.455581 s, approachRate: 0.821439 m/s, LOS rate: 0.296378 deg/s, posRepo size: 4
2021-01-28T00:15:31.371Z,1611792931.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:31.996Z,1611792931.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:32.442Z,1611792932.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:33.257Z,1611792933.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001533.74*59

2021-01-28T00:15:33.293Z,1611792933.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.580002 m, bearing: 225.344688 deg, deltaT: 4.404503 s, approachRate: 0.830969 m/s, LOS rate: 1.113073 deg/s, posRepo size: 4
2021-01-28T00:15:34.461Z,1611792934.461 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-28T00:15:35.393Z,1611792935.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:36.046Z,1611792936.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:36.463Z,1611792936.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:37.309Z,1611792937.309 [Micromodem](INFO): Nmea in: $SNTTA,0.097743,,0.101802,,001537.79*54

2021-01-28T00:15:37.378Z,1611792937.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.940002 m, bearing: 218.523296 deg, deltaT: 4.121364 s, approachRate: 0.815264 m/s, LOS rate: -1.655130 deg/s, posRepo size: 4
2021-01-28T00:15:39.301Z,1611792939.301 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-28T00:15:39.711Z,1611792939.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:40.482Z,1611792940.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:40.902Z,1611792940.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:41.725Z,1611792941.725 [Micromodem](INFO): Nmea in: $SNTTA,0.100179,,,,001542.23*4D

2021-01-28T00:15:41.761Z,1611792941.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.600006 m, bearing: 214.465905 deg, deltaT: 4.392712 s, approachRate: 0.833199 m/s, LOS rate: -0.923664 deg/s, posRepo size: 4
2021-01-28T00:15:41.761Z,1611792941.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.60 m. Resuming terminal guidance.
2021-01-28T00:15:41.761Z,1611792941.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-28T00:15:44.154Z,1611792944.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:44.922Z,1611792944.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:45.351Z,1611792945.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:46.155Z,1611792946.155 [Micromodem](INFO): Nmea in: $SNTTA,0.102707,,,,001546.67*44

2021-01-28T00:15:46.968Z,1611792946.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:48.621Z,1611792948.621 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:15:49.803Z,1611792949.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:50.586Z,1611792950.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:51.002Z,1611792951.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:51.821Z,1611792951.821 [Micromodem](INFO): Nmea in: $SNTTA,0.105924,,,,001552.33*48

2021-01-28T00:15:51.855Z,1611792951.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 219.799668 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-28T00:15:51.860Z,1611792951.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 219.799668deg and heading rate command to 0 deg/s.
2021-01-28T00:15:54.268Z,1611792954.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:55.035Z,1611792955.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:55.432Z,1611792955.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:15:56.281Z,1611792956.281 [Micromodem](INFO): Nmea in: $SNTTA,0.108573,,,,001556.78*40

2021-01-28T00:15:56.305Z,1611792956.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 228.286587 deg, deltaT: 4.369584 s, approachRate: 0.000000 m/s, LOS rate: 1.942272 deg/s, posRepo size: 2
2021-01-28T00:15:56.307Z,1611792956.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.240005 m,
      bearing: 228.286587 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.942272 deg/s,
      cmd update: 7.769087 deg/s,
      cmd heading: 219.799668 deg,
      new cmd heading: 219.799668 deg.

2021-01-28T00:15:58.696Z,1611792958.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:15:59.466Z,1611792959.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:15:59.880Z,1611792959.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:00.721Z,1611792960.721 [Micromodem](INFO): Nmea in: $SNTTA,0.111272,,,,001601.21*43

2021-01-28T00:16:00.746Z,1611792960.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 238.180499 deg, deltaT: 4.452262 s, approachRate: 3.449929 m/s, LOS rate: 2.222221 deg/s, posRepo size: 3
2021-01-28T00:16:00.748Z,1611792960.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.599991 m,
      bearing: 238.180499 deg,
      approachRate: 3.449929 m/s,
      LOS rate: 2.222221 deg/s,
      cmd update: 8.888885 deg/s,
      cmd heading: 254.522268 deg,
      new cmd heading: 257.808747 deg.

2021-01-28T00:16:01.525Z,1611792961.525 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-28T00:16:03.151Z,1611792963.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:03.922Z,1611792963.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:04.328Z,1611792964.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:05.153Z,1611792965.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001605.67*5D

2021-01-28T00:16:05.222Z,1611792965.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 261.057535 deg, deltaT: 4.436339 s, approachRate: 0.000000 m/s, LOS rate: 5.156737 deg/s, posRepo size: 4
2021-01-28T00:16:05.229Z,1611792965.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.599991 m,
      bearing: 261.057535 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.156737 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 293.947148 deg,
      new cmd heading: 297.941849 deg.

2021-01-28T00:16:07.596Z,1611792967.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:08.373Z,1611792968.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:08.760Z,1611792968.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:09.585Z,1611792969.585 [Micromodem](INFO): Nmea in: $SNTTA,0.115611,,,,001610.12*46

2021-01-28T00:16:10.019Z,1611792970.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.919998 m, bearing: 294.138900 deg, deltaT: 4.884512 s, approachRate: -0.343943 m/s, LOS rate: 6.772706 deg/s, posRepo size: 4
2021-01-28T00:16:10.037Z,1611792970.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.919998 m,
      bearing: 294.138900 deg,
      approachRate: -0.343943 m/s,
      LOS rate: 6.772706 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 352.526278 deg,
      new cmd heading: 357.075898 deg.

2021-01-28T00:16:12.458Z,1611792972.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:13.222Z,1611792973.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:13.616Z,1611792973.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:14.436Z,1611792974.436 [Micromodem](INFO): Nmea in: $SNTTA,0.116752,,,,001614.97*4A

2021-01-28T00:16:14.855Z,1611792974.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.199997 m, bearing: 351.949758 deg, deltaT: 4.847862 s, approachRate: 0.470310 m/s, LOS rate: 11.925021 deg/s, posRepo size: 4
2021-01-28T00:16:14.856Z,1611792974.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.925021 deg/s. Setting heading cmd to target bearing of 351.949758deg and heading rate command to 0 deg/s.
2021-01-28T00:16:17.226Z,1611792977.226 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2021-01-28T00:16:17.306Z,1611792977.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:18.074Z,1611792978.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:18.456Z,1611792978.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:19.309Z,1611792979.309 [Micromodem](INFO): Nmea in: $SNTTA,0.117111,,0.122859,,001619.82*58

2021-01-28T00:16:19.708Z,1611792979.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.619995 m, bearing: 276.035484 deg, deltaT: 4.884298 s, approachRate: 0.085989 m/s, LOS rate: -15.542516 deg/s, posRepo size: 4
2021-01-28T00:16:19.709Z,1611792979.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.542516 deg/s. Setting heading cmd to target bearing of 276.035484deg and heading rate command to 0 deg/s.
2021-01-28T00:16:22.105Z,1611792982.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:22.902Z,1611792982.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:23.312Z,1611792983.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:24.139Z,1611792984.139 [Micromodem](INFO): Nmea in: $SNTTA,0.117000,,,,001624.65*45

2021-01-28T00:16:24.191Z,1611792984.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.619995 m, bearing: 350.300212 deg, deltaT: 4.392031 s, approachRate: 0.000000 m/s, LOS rate: 16.908972 deg/s, posRepo size: 4
2021-01-28T00:16:24.198Z,1611792984.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.908972 deg/s. Setting heading cmd to target bearing of 350.300212deg and heading rate command to 0 deg/s.
2021-01-28T00:16:26.589Z,1611792986.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:27.365Z,1611792987.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:27.748Z,1611792987.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:28.570Z,1611792988.570 [Micromodem](INFO): Nmea in: $SNTTA,0.116305,,,,001629.11*4C

2021-01-28T00:16:29.063Z,1611792989.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.419998 m, bearing: 41.246269 deg, deltaT: 4.869750 s, approachRate: -0.246419 m/s, LOS rate: 10.461743 deg/s, posRepo size: 4
2021-01-28T00:16:29.065Z,1611792989.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.419998 m,
      bearing: 41.246269 deg,
      approachRate: -0.246419 m/s,
      LOS rate: 10.461743 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 350.300212 deg,
      new cmd heading: 350.300212 deg.

2021-01-28T00:16:31.464Z,1611792991.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:32.217Z,1611792992.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:32.600Z,1611792992.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:33.436Z,1611792993.436 [Micromodem](INFO): Nmea in: $SNTTA,0.115457,,,,001633.96*4B

2021-01-28T00:16:33.907Z,1611792993.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 39.446467 deg, deltaT: 4.862690 s, approachRate: -0.271453 m/s, LOS rate: -0.370125 deg/s, posRepo size: 4
2021-01-28T00:16:33.990Z,1611792993.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 39.446467 deg,
      approachRate: -0.271453 m/s,
      LOS rate: -0.370125 deg/s,
      cmd update: -1.480500 deg/s,
      cmd heading: 48.655325 deg,
      new cmd heading: 53.534946 deg.

2021-01-28T00:16:36.289Z,1611792996.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:37.052Z,1611792997.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:37.448Z,1611792997.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:38.297Z,1611792998.297 [Micromodem](INFO): Nmea in: $SNTTA,0.114345,,,,001638.80*42

2021-01-28T00:16:38.374Z,1611792998.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 57.204709 deg, deltaT: 4.388944 s, approachRate: 0.000000 m/s, LOS rate: 4.046131 deg/s, posRepo size: 4
2021-01-28T00:16:38.380Z,1611792998.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 57.204709 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.046131 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 42.159234 deg,
      new cmd heading: 41.439801 deg.

2021-01-28T00:16:40.708Z,1611793000.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:41.494Z,1611793001.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:41.892Z,1611793001.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:42.809Z,1611793002.809 [Micromodem](INFO): Nmea in: $SNTTA,0.112948,,,,001643.24*41

2021-01-28T00:16:42.834Z,1611793002.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 32.836435 deg, deltaT: 4.499257 s, approachRate: 0.000000 m/s, LOS rate: -5.416066 deg/s, posRepo size: 4
2021-01-28T00:16:42.836Z,1611793002.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 32.836435 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.416066 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 96.117427 deg,
      new cmd heading: 101.513635 deg.

2021-01-28T00:16:45.231Z,1611793005.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:45.934Z,1611793005.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:46.369Z,1611793006.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:47.183Z,1611793007.183 [Micromodem](INFO): Nmea in: $SNTTA,0.111558,,,,001647.68*43

2021-01-28T00:16:47.238Z,1611793007.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.100006 m, bearing: 28.914322 deg, deltaT: 4.388522 s, approachRate: -1.367203 m/s, LOS rate: -0.893721 deg/s, posRepo size: 4
2021-01-28T00:16:47.240Z,1611793007.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.100006 m,
      bearing: 28.914322 deg,
      approachRate: -1.367203 m/s,
      LOS rate: -0.893721 deg/s,
      cmd update: -3.574883 deg/s,
      cmd heading: 43.412946 deg,
      new cmd heading: 37.879494 deg.

2021-01-28T00:16:49.621Z,1611793009.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:50.394Z,1611793010.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:50.788Z,1611793010.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:51.613Z,1611793011.613 [Micromodem](INFO): Nmea in: $SNTTA,0.109754,,,,001652.14*4B

2021-01-28T00:16:51.649Z,1611793011.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.100006 m, bearing: 28.105743 deg, deltaT: 4.473928 s, approachRate: 0.000000 m/s, LOS rate: -0.180731 deg/s, posRepo size: 4
2021-01-28T00:16:51.651Z,1611793011.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.100006 m,
      bearing: 28.105743 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.180731 deg/s,
      cmd update: -0.722925 deg/s,
      cmd heading: 27.417772 deg,
      new cmd heading: 25.996284 deg.

2021-01-28T00:16:54.054Z,1611793014.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:54.826Z,1611793014.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:55.252Z,1611793015.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:16:56.149Z,1611793016.149 [Micromodem](INFO): Nmea in: $SNTTA,0.108028,,,,001656.57*45

2021-01-28T00:16:56.222Z,1611793016.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.880005 m, bearing: 28.517665 deg, deltaT: 4.439883 s, approachRate: -1.175707 m/s, LOS rate: 0.092778 deg/s, posRepo size: 4
2021-01-28T00:16:56.228Z,1611793016.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.880005 m,
      bearing: 28.517665 deg,
      approachRate: -1.175707 m/s,
      LOS rate: 0.092778 deg/s,
      cmd update: 0.371111 deg/s,
      cmd heading: 24.210919 deg,
      new cmd heading: 23.824105 deg.

2021-01-28T00:16:58.530Z,1611793018.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:16:59.333Z,1611793019.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:16:59.715Z,1611793019.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:00.517Z,1611793020.517 [Micromodem](INFO): Nmea in: $SNTTA,0.106314,,,,001701.08*4E

2021-01-28T00:17:00.944Z,1611793020.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.300003 m, bearing: 31.309966 deg, deltaT: 4.906659 s, approachRate: -0.525816 m/s, LOS rate: 0.569084 deg/s, posRepo size: 4
2021-01-28T00:17:00.946Z,1611793020.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.300003 m,
      bearing: 31.309966 deg,
      approachRate: -0.525816 m/s,
      LOS rate: 0.569084 deg/s,
      cmd update: 2.276336 deg/s,
      cmd heading: 26.031769 deg,
      new cmd heading: 26.160267 deg.

2021-01-28T00:17:03.405Z,1611793023.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:04.134Z,1611793024.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:04.544Z,1611793024.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:05.401Z,1611793025.401 [Micromodem](INFO): Nmea in: $SNTTA,0.104267,,,,001705.88*45

2021-01-28T00:17:05.435Z,1611793025.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 32.547999 deg, deltaT: 4.373628 s, approachRate: -0.713365 m/s, LOS rate: 0.283068 deg/s, posRepo size: 4
2021-01-28T00:17:05.437Z,1611793025.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.180008 m,
      bearing: 32.547999 deg,
      approachRate: -0.713365 m/s,
      LOS rate: 0.283068 deg/s,
      cmd update: 1.132271 deg/s,
      cmd heading: 35.997089 deg,
      new cmd heading: 37.052731 deg.

2021-01-28T00:17:07.825Z,1611793027.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:08.582Z,1611793028.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:09.002Z,1611793029.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:09.849Z,1611793029.849 [Micromodem](INFO): Nmea in: $SNTTA,0.102524,,,,001710.33*47

2021-01-28T00:17:09.886Z,1611793029.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 31.565600 deg, deltaT: 4.578209 s, approachRate: -0.498014 m/s, LOS rate: -0.214582 deg/s, posRepo size: 4
2021-01-28T00:17:09.901Z,1611793029.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.899994 m,
      bearing: 31.565600 deg,
      approachRate: -0.498014 m/s,
      LOS rate: -0.214582 deg/s,
      cmd update: -0.858327 deg/s,
      cmd heading: 41.176182 deg,
      new cmd heading: 41.556132 deg.

2021-01-28T00:17:12.275Z,1611793032.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:13.034Z,1611793033.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:13.432Z,1611793033.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:14.297Z,1611793034.297 [Micromodem](INFO): Nmea in: $SNTTA,0.100660,,,0.124367,001714.78*56

2021-01-28T00:17:14.382Z,1611793034.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 31.332690 deg, deltaT: 4.327937 s, approachRate: -0.651582 m/s, LOS rate: -0.053815 deg/s, posRepo size: 4
2021-01-28T00:17:14.383Z,1611793034.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.079987 m,
      bearing: 31.332690 deg,
      approachRate: -0.651582 m/s,
      LOS rate: -0.053815 deg/s,
      cmd update: -0.215261 deg/s,
      cmd heading: 37.458336 deg,
      new cmd heading: 37.025100 deg.

2021-01-28T00:17:16.696Z,1611793036.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:17.470Z,1611793037.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:17.880Z,1611793037.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:18.721Z,1611793038.721 [Micromodem](INFO): Nmea in: $SNTTA,0.098761,,,,001719.22*4F

2021-01-28T00:17:18.762Z,1611793038.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.139999 m, bearing: 33.174908 deg, deltaT: 4.437215 s, approachRate: -0.662575 m/s, LOS rate: 0.415174 deg/s, posRepo size: 4
2021-01-28T00:17:18.763Z,1611793038.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.139999 m,
      bearing: 33.174908 deg,
      approachRate: -0.662575 m/s,
      LOS rate: 0.415174 deg/s,
      cmd update: 1.660698 deg/s,
      cmd heading: 36.503995 deg,
      new cmd heading: 36.406846 deg.

2021-01-28T00:17:21.125Z,1611793041.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:21.918Z,1611793041.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:22.330Z,1611793042.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:23.188Z,1611793043.188 [Micromodem](INFO): Nmea in: $SNTTA,0.096863,,,,001723.66*45

2021-01-28T00:17:23.239Z,1611793043.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.140015 m, bearing: 31.485628 deg, deltaT: 4.536181 s, approachRate: -0.661346 m/s, LOS rate: -0.372401 deg/s, posRepo size: 4
2021-01-28T00:17:23.249Z,1611793043.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.140015 m,
      bearing: 31.485628 deg,
      approachRate: -0.661346 m/s,
      LOS rate: -0.372401 deg/s,
      cmd update: -1.489605 deg/s,
      cmd heading: 44.017884 deg,
      new cmd heading: 44.689793 deg.

2021-01-28T00:17:25.636Z,1611793045.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:26.414Z,1611793046.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:26.788Z,1611793046.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:27.615Z,1611793047.615 [Micromodem](INFO): Nmea in: $SNTTA,0.094973,,,,001728.16*4B

2021-01-28T00:17:27.658Z,1611793047.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 30.956190 deg, deltaT: 4.407262 s, approachRate: -0.612628 m/s, LOS rate: -0.120129 deg/s, posRepo size: 4
2021-01-28T00:17:27.660Z,1611793047.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.440002 m,
      bearing: 30.956190 deg,
      approachRate: -0.612628 m/s,
      LOS rate: -0.120129 deg/s,
      cmd update: -0.480515 deg/s,
      cmd heading: 37.428866 deg,
      new cmd heading: 36.832972 deg.

2021-01-28T00:17:30.070Z,1611793050.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:30.831Z,1611793050.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:31.268Z,1611793051.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:32.085Z,1611793052.085 [Micromodem](INFO): Nmea in: $SNTTA,0.093077,,,,001732.58*40

2021-01-28T00:17:32.110Z,1611793052.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.619995 m, bearing: 31.778206 deg, deltaT: 4.420797 s, approachRate: -0.637896 m/s, LOS rate: 0.185943 deg/s, posRepo size: 4
2021-01-28T00:17:32.141Z,1611793052.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.619995 m,
      bearing: 31.778206 deg,
      approachRate: -0.637896 m/s,
      LOS rate: 0.185943 deg/s,
      cmd update: 0.743772 deg/s,
      cmd heading: 35.304611 deg,
      new cmd heading: 35.097262 deg.

2021-01-28T00:17:34.515Z,1611793054.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:35.279Z,1611793055.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:35.680Z,1611793055.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:36.541Z,1611793056.541 [Micromodem](INFO): Nmea in: $SNTTA,0.090892,,,,001737.02*4A

2021-01-28T00:17:36.575Z,1611793056.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.139999 m, bearing: 31.395562 deg, deltaT: 4.548882 s, approachRate: -0.765022 m/s, LOS rate: -0.084118 deg/s, posRepo size: 4
2021-01-28T00:17:36.577Z,1611793056.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.139999 m,
      bearing: 31.395562 deg,
      approachRate: -0.765022 m/s,
      LOS rate: -0.084118 deg/s,
      cmd update: -0.336473 deg/s,
      cmd heading: 38.684949 deg,
      new cmd heading: 38.946400 deg.

2021-01-28T00:17:38.939Z,1611793058.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:39.718Z,1611793059.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:40.128Z,1611793060.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:40.973Z,1611793060.973 [Micromodem](INFO): Nmea in: $SNTTA,0.088979,,,,001741.46*46

2021-01-28T00:17:41.017Z,1611793061.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 31.201786 deg, deltaT: 4.331935 s, approachRate: -0.664831 m/s, LOS rate: -0.044732 deg/s, posRepo size: 4
2021-01-28T00:17:41.019Z,1611793061.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.259995 m,
      bearing: 31.201786 deg,
      approachRate: -0.664831 m/s,
      LOS rate: -0.044732 deg/s,
      cmd update: -0.178928 deg/s,
      cmd heading: 37.226035 deg,
      new cmd heading: 37.072285 deg.

2021-01-28T00:17:43.415Z,1611793063.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:44.169Z,1611793064.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:44.572Z,1611793064.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:45.417Z,1611793065.417 [Micromodem](INFO): Nmea in: $SNTTA,0.086971,,,,001745.91*4E

2021-01-28T00:17:45.462Z,1611793065.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.260010 m, bearing: 30.849547 deg, deltaT: 4.469873 s, approachRate: -0.671157 m/s, LOS rate: -0.078803 deg/s, posRepo size: 4
2021-01-28T00:17:45.464Z,1611793065.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.260010 m,
      bearing: 30.849547 deg,
      approachRate: -0.671157 m/s,
      LOS rate: -0.078803 deg/s,
      cmd update: -0.315212 deg/s,
      cmd heading: 36.426952 deg,
      new cmd heading: 36.348862 deg.

2021-01-28T00:17:47.814Z,1611793067.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:48.606Z,1611793068.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:49.022Z,1611793069.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:49.917Z,1611793069.917 [Micromodem](INFO): Nmea in: $SNTTA,0.085042,,0.095766,,001750.35*5B

2021-01-28T00:17:49.969Z,1611793069.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.320000 m, bearing: 31.533710 deg, deltaT: 4.450912 s, approachRate: -0.660541 m/s, LOS rate: 0.153713 deg/s, posRepo size: 4
2021-01-28T00:17:49.971Z,1611793069.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.320000 m,
      bearing: 31.533710 deg,
      approachRate: -0.660541 m/s,
      LOS rate: 0.153713 deg/s,
      cmd update: 0.614852 deg/s,
      cmd heading: 35.027818 deg,
      new cmd heading: 34.870134 deg.

2021-01-28T00:17:52.321Z,1611793072.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:53.058Z,1611793073.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:53.460Z,1611793073.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:54.307Z,1611793074.307 [Micromodem](INFO): Nmea in: $SNTTA,0.083072,,,,001754.80*41

2021-01-28T00:17:54.411Z,1611793074.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.379997 m, bearing: 31.276676 deg, deltaT: 4.396110 s, approachRate: -0.668774 m/s, LOS rate: -0.058468 deg/s, posRepo size: 4
2021-01-28T00:17:54.414Z,1611793074.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.379997 m,
      bearing: 31.276676 deg,
      approachRate: -0.668774 m/s,
      LOS rate: -0.058468 deg/s,
      cmd update: -0.233874 deg/s,
      cmd heading: 37.740609 deg,
      new cmd heading: 38.068838 deg.

2021-01-28T00:17:56.725Z,1611793076.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:17:57.506Z,1611793077.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:17:57.904Z,1611793077.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:17:58.749Z,1611793078.749 [Micromodem](INFO): Nmea in: $SNTTA,0.081116,,,,001759.25*42

2021-01-28T00:17:58.794Z,1611793078.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.439995 m, bearing: 31.721987 deg, deltaT: 4.510896 s, approachRate: -0.651756 m/s, LOS rate: 0.098719 deg/s, posRepo size: 4
2021-01-28T00:17:58.800Z,1611793078.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.439995 m,
      bearing: 31.721987 deg,
      approachRate: -0.651756 m/s,
      LOS rate: 0.098719 deg/s,
      cmd update: 0.394876 deg/s,
      cmd heading: 36.685636 deg,
      new cmd heading: 36.590475 deg.

2021-01-28T00:17:59.537Z,1611793079.537 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:18:01.146Z,1611793081.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:01.942Z,1611793081.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:02.371Z,1611793082.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:03.298Z,1611793083.298 [Micromodem](INFO): Nmea in: $SNTTA,0.079215,,,,001803.69*4D

2021-01-28T00:18:03.327Z,1611793083.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.979996 m, bearing: 30.514143 deg, deltaT: 4.404870 s, approachRate: -0.558473 m/s, LOS rate: -0.274206 deg/s, posRepo size: 4
2021-01-28T00:18:03.329Z,1611793083.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.979996 m,
      bearing: 30.514143 deg,
      approachRate: -0.558473 m/s,
      LOS rate: -0.274206 deg/s,
      cmd update: -1.096826 deg/s,
      cmd heading: 38.423426 deg,
      new cmd heading: 38.636108 deg.

2021-01-28T00:18:05.629Z,1611793085.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:06.410Z,1611793086.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:06.796Z,1611793086.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:07.621Z,1611793087.621 [Micromodem](INFO): Nmea in: $SNTTA,0.077235,,,,001808.15*41

2021-01-28T00:18:07.659Z,1611793087.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.739998 m, bearing: 32.271674 deg, deltaT: 4.457036 s, approachRate: -0.726940 m/s, LOS rate: 0.394327 deg/s, posRepo size: 4
2021-01-28T00:18:07.665Z,1611793087.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.739998 m,
      bearing: 32.271674 deg,
      approachRate: -0.726940 m/s,
      LOS rate: 0.394327 deg/s,
      cmd update: 1.577309 deg/s,
      cmd heading: 33.530146 deg,
      new cmd heading: 33.081310 deg.

2021-01-28T00:18:10.038Z,1611793090.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:10.443Z,1611793090.443 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:18:10.826Z,1611793090.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:11.268Z,1611793091.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:12.081Z,1611793092.081 [Micromodem](INFO): Nmea in: $SNTTA,0.075297,,,,001812.57*46

2021-01-28T00:18:12.106Z,1611793092.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.740005 m, bearing: 32.339248 deg, deltaT: 4.414027 s, approachRate: -0.679650 m/s, LOS rate: 0.015309 deg/s, posRepo size: 4
2021-01-28T00:18:12.134Z,1611793092.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.740005 m,
      bearing: 32.339248 deg,
      approachRate: -0.679650 m/s,
      LOS rate: 0.015309 deg/s,
      cmd update: 0.061236 deg/s,
      cmd heading: 40.492389 deg,
      new cmd heading: 41.190956 deg.

2021-01-28T00:18:14.505Z,1611793094.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:15.274Z,1611793095.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:15.694Z,1611793095.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:16.585Z,1611793096.585 [Micromodem](INFO): Nmea in: $SNTTA,0.073409,,,,001817.02*44

2021-01-28T00:18:16.645Z,1611793096.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 31.884389 deg, deltaT: 4.458178 s, approachRate: -0.578712 m/s, LOS rate: -0.102028 deg/s, posRepo size: 4
2021-01-28T00:18:16.652Z,1611793096.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.160004 m,
      bearing: 31.884389 deg,
      approachRate: -0.578712 m/s,
      LOS rate: -0.102028 deg/s,
      cmd update: -0.408113 deg/s,
      cmd heading: 40.765147 deg,
      new cmd heading: 40.797465 deg.

2021-01-28T00:18:18.945Z,1611793098.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:19.374Z,1611793099.374 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:18:19.718Z,1611793099.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:20.135Z,1611793100.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:20.969Z,1611793100.969 [Micromodem](INFO): Nmea in: $SNTTA,0.071490,,,,001821.46*43

2021-01-28T00:18:20.998Z,1611793100.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.279999 m, bearing: 31.910483 deg, deltaT: 4.460567 s, approachRate: -0.645659 m/s, LOS rate: 0.005850 deg/s, posRepo size: 4
2021-01-28T00:18:21.001Z,1611793101.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.279999 m,
      bearing: 31.910483 deg,
      approachRate: -0.645659 m/s,
      LOS rate: 0.005850 deg/s,
      cmd update: 0.023400 deg/s,
      cmd heading: 38.943118 deg,
      new cmd heading: 38.773940 deg.

2021-01-28T00:18:23.414Z,1611793103.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:24.185Z,1611793104.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:24.564Z,1611793104.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:24.588Z,1611793104.588 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:18:25.449Z,1611793105.449 [Micromodem](INFO): Nmea in: $SNTTA,0.069641,,,0.110637,001825.93*54

2021-01-28T00:18:25.498Z,1611793105.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.280006 m, bearing: 31.962734 deg, deltaT: 4.440688 s, approachRate: -0.675569 m/s, LOS rate: 0.011766 deg/s, posRepo size: 4
2021-01-28T00:18:25.500Z,1611793105.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.280006 m,
      bearing: 31.962734 deg,
      approachRate: -0.675569 m/s,
      LOS rate: 0.011766 deg/s,
      cmd update: 0.047066 deg/s,
      cmd heading: 39.046936 deg,
      new cmd heading: 39.058155 deg.

2021-01-28T00:18:27.829Z,1611793107.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:28.610Z,1611793108.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:29.021Z,1611793109.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:29.451Z,1611793109.451 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:18:29.853Z,1611793109.853 [Micromodem](INFO): Nmea in: $SNTTA,0.067736,,,,001830.35*4F

2021-01-28T00:18:29.875Z,1611793109.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 32.222596 deg, deltaT: 4.451532 s, approachRate: -0.646968 m/s, LOS rate: 0.058376 deg/s, posRepo size: 4
2021-01-28T00:18:29.877Z,1611793109.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.400009 m,
      bearing: 32.222596 deg,
      approachRate: -0.646968 m/s,
      LOS rate: 0.058376 deg/s,
      cmd update: 0.233503 deg/s,
      cmd heading: 39.256644 deg,
      new cmd heading: 39.275505 deg.

2021-01-28T00:18:32.334Z,1611793112.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:33.063Z,1611793113.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:33.452Z,1611793113.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:34.289Z,1611793114.289 [Micromodem](INFO): Nmea in: $SNTTA,0.066283,,,,001834.81*4E

2021-01-28T00:18:34.391Z,1611793114.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.880005 m, bearing: 31.996329 deg, deltaT: 4.398104 s, approachRate: -0.572975 m/s, LOS rate: -0.051447 deg/s, posRepo size: 4
2021-01-28T00:18:34.397Z,1611793114.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.880005 m,
      bearing: 31.996329 deg,
      approachRate: -0.572975 m/s,
      LOS rate: -0.051447 deg/s,
      cmd update: -0.205786 deg/s,
      cmd heading: 40.283612 deg,
      new cmd heading: 40.404649 deg.

2021-01-28T00:18:36.736Z,1611793116.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:37.501Z,1611793117.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:37.922Z,1611793117.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:38.737Z,1611793118.737 [Micromodem](INFO): Nmea in: $SNTTA,0.064061,,,,001839.24*40

2021-01-28T00:18:38.773Z,1611793118.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 31.764573 deg, deltaT: 4.511035 s, approachRate: -0.665038 m/s, LOS rate: -0.051375 deg/s, posRepo size: 4
2021-01-28T00:18:38.775Z,1611793118.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.879997 m,
      bearing: 31.764573 deg,
      approachRate: -0.665038 m/s,
      LOS rate: -0.051375 deg/s,
      cmd update: -0.205501 deg/s,
      cmd heading: 39.356137 deg,
      new cmd heading: 39.275310 deg.

2021-01-28T00:18:39.518Z,1611793119.518 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:18:41.173Z,1611793121.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:41.933Z,1611793121.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:42.373Z,1611793122.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:43.194Z,1611793123.194 [Micromodem](INFO): Nmea in: $SNTTA,0.062161,,,,001843.68*42

2021-01-28T00:18:43.244Z,1611793123.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.060005 m, bearing: 32.479237 deg, deltaT: 4.394173 s, approachRate: -0.641757 m/s, LOS rate: 0.162639 deg/s, posRepo size: 4
2021-01-28T00:18:43.246Z,1611793123.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.060005 m,
      bearing: 32.479237 deg,
      approachRate: -0.641757 m/s,
      LOS rate: 0.162639 deg/s,
      cmd update: 0.650555 deg/s,
      cmd heading: 38.453122 deg,
      new cmd heading: 38.358182 deg.

2021-01-28T00:18:44.499Z,1611793124.499 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:18:44.733Z,1611793124.733 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-01-28T00:18:44.735Z,1611793124.735 [BPC1](INFO): Received data from all battery sticks.
2021-01-28T00:18:45.616Z,1611793125.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:46.417Z,1611793126.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:46.777Z,1611793126.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:47.607Z,1611793127.607 [Micromodem](INFO): Nmea in: $SNTTA,0.060224,,0.082805,,001848.16*59

2021-01-28T00:18:47.655Z,1611793127.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.119995 m, bearing: 32.911608 deg, deltaT: 4.485178 s, approachRate: -0.655495 m/s, LOS rate: 0.096400 deg/s, posRepo size: 4
2021-01-28T00:18:47.657Z,1611793127.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.119995 m,
      bearing: 32.911608 deg,
      approachRate: -0.655495 m/s,
      LOS rate: 0.096400 deg/s,
      cmd update: 0.385600 deg/s,
      cmd heading: 41.373575 deg,
      new cmd heading: 41.628878 deg.

2021-01-28T00:18:50.034Z,1611793130.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:50.822Z,1611793130.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:51.273Z,1611793131.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:52.065Z,1611793132.065 [Micromodem](INFO): Nmea in: $SNTTA,0.058365,,,,001852.57*41

2021-01-28T00:18:52.106Z,1611793132.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.720001 m, bearing: 30.579075 deg, deltaT: 4.428559 s, approachRate: -0.541936 m/s, LOS rate: -0.526703 deg/s, posRepo size: 4
2021-01-28T00:18:52.113Z,1611793132.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.720001 m,
      bearing: 30.579075 deg,
      approachRate: -0.541936 m/s,
      LOS rate: -0.526703 deg/s,
      cmd update: -2.106810 deg/s,
      cmd heading: 43.072438 deg,
      new cmd heading: 43.241266 deg.

2021-01-28T00:18:54.465Z,1611793134.465 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-01-28T00:18:54.509Z,1611793134.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:55.276Z,1611793135.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:18:55.672Z,1611793135.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:18:56.501Z,1611793136.501 [Micromodem](INFO): Nmea in: $SNTTA,0.056355,,,0.062362,001857.02*54

2021-01-28T00:18:56.546Z,1611793136.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.360001 m, bearing: 32.090548 deg, deltaT: 4.397967 s, approachRate: -0.763990 m/s, LOS rate: 0.343675 deg/s, posRepo size: 4
2021-01-28T00:18:56.548Z,1611793136.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.360001 m,
      bearing: 32.090548 deg,
      approachRate: -0.763990 m/s,
      LOS rate: 0.343675 deg/s,
      cmd update: 1.374702 deg/s,
      cmd heading: 33.758698 deg,
      new cmd heading: 32.796075 deg.

2021-01-28T00:18:58.968Z,1611793138.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:18:59.710Z,1611793139.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:00.120Z,1611793140.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:00.945Z,1611793140.945 [Micromodem](INFO): Nmea in: $SNTTA,0.054483,,,,001901.46*45

2021-01-28T00:19:00.967Z,1611793140.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 32.701641 deg, deltaT: 4.463004 s, approachRate: -0.631861 m/s, LOS rate: 0.136924 deg/s, posRepo size: 4
2021-01-28T00:19:00.969Z,1611793140.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 32.701641 deg,
      approachRate: -0.631861 m/s,
      LOS rate: 0.136924 deg/s,
      cmd update: 0.547697 deg/s,
      cmd heading: 39.893996 deg,
      new cmd heading: 40.464443 deg.

2021-01-28T00:19:03.433Z,1611793143.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:04.155Z,1611793144.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:04.556Z,1611793144.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:05.409Z,1611793145.409 [Micromodem](INFO): Nmea in: $SNTTA,0.052543,,,,001905.90*41

2021-01-28T00:19:05.495Z,1611793145.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.599998 m, bearing: 32.577919 deg, deltaT: 4.429082 s, approachRate: -0.663795 m/s, LOS rate: -0.027934 deg/s, posRepo size: 4
2021-01-28T00:19:05.501Z,1611793145.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.599998 m,
      bearing: 32.577919 deg,
      approachRate: -0.663795 m/s,
      LOS rate: -0.027934 deg/s,
      cmd update: -0.111736 deg/s,
      cmd heading: 42.318287 deg,
      new cmd heading: 42.600916 deg.

2021-01-28T00:19:07.832Z,1611793147.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:08.616Z,1611793148.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:09.028Z,1611793149.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:09.869Z,1611793149.869 [Micromodem](INFO): Nmea in: $SNTTA,0.050414,,,,001910.36*48

2021-01-28T00:19:09.891Z,1611793149.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.780006 m, bearing: 32.548051 deg, deltaT: 4.526893 s, approachRate: -0.622942 m/s, LOS rate: -0.006598 deg/s, posRepo size: 4
2021-01-28T00:19:09.893Z,1611793149.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.780006 m,
      bearing: 32.548051 deg,
      approachRate: -0.622942 m/s,
      LOS rate: -0.006598 deg/s,
      cmd update: -0.026392 deg/s,
      cmd heading: 41.812611 deg,
      new cmd heading: 41.769376 deg.

2021-01-28T00:19:12.019Z,1611793152.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:12.658Z,1611793152.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:13.064Z,1611793153.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:13.914Z,1611793153.914 [Micromodem](INFO): Nmea in: $SNTTA,0.048843,,,,001914.40*4A

2021-01-28T00:19:13.938Z,1611793153.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.080002 m, bearing: 28.865138 deg, deltaT: 4.010297 s, approachRate: -0.673268 m/s, LOS rate: -0.918364 deg/s, posRepo size: 4
2021-01-28T00:19:13.941Z,1611793153.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.080002 m,
      bearing: 28.865138 deg,
      approachRate: -0.673268 m/s,
      LOS rate: -0.918364 deg/s,
      cmd update: -3.673457 deg/s,
      cmd heading: 41.706665 deg,
      new cmd heading: 41.695634 deg.

2021-01-28T00:19:16.374Z,1611793156.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:17.116Z,1611793157.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:17.516Z,1611793157.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:18.358Z,1611793158.358 [Micromodem](INFO): Nmea in: $SNTTA,0.046920,,,,001918.86*46

2021-01-28T00:19:18.400Z,1611793158.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.139999 m, bearing: 28.378972 deg, deltaT: 4.410780 s, approachRate: -0.666549 m/s, LOS rate: -0.110222 deg/s, posRepo size: 4
2021-01-28T00:19:18.402Z,1611793158.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.139999 m,
      bearing: 28.378972 deg,
      approachRate: -0.666549 m/s,
      LOS rate: -0.110222 deg/s,
      cmd update: -0.440889 deg/s,
      cmd heading: 25.504557 deg,
      new cmd heading: 23.776218 deg.

2021-01-28T00:19:20.770Z,1611793160.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:21.550Z,1611793161.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:21.952Z,1611793161.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:22.785Z,1611793162.785 [Micromodem](INFO): Nmea in: $SNTTA,0.044872,,,,001923.30*47

2021-01-28T00:19:22.823Z,1611793162.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.140007 m, bearing: 29.344607 deg, deltaT: 4.535379 s, approachRate: -0.661465 m/s, LOS rate: 0.212912 deg/s, posRepo size: 4
2021-01-28T00:19:22.825Z,1611793162.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.140007 m,
      bearing: 29.344607 deg,
      approachRate: -0.661465 m/s,
      LOS rate: 0.212912 deg/s,
      cmd update: 0.851647 deg/s,
      cmd heading: 23.508490 deg,
      new cmd heading: 23.347187 deg.

2021-01-28T00:19:25.245Z,1611793165.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:25.995Z,1611793165.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:26.440Z,1611793166.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:27.257Z,1611793167.257 [Micromodem](INFO): Nmea in: $SNTTA,0.042988,,,,001927.74*41

2021-01-28T00:19:27.281Z,1611793167.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.320000 m, bearing: 30.989152 deg, deltaT: 4.348302 s, approachRate: -0.648531 m/s, LOS rate: 0.378204 deg/s, posRepo size: 4
2021-01-28T00:19:27.283Z,1611793167.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.320000 m,
      bearing: 30.989152 deg,
      approachRate: -0.648531 m/s,
      LOS rate: 0.378204 deg/s,
      cmd update: 1.512816 deg/s,
      cmd heading: 27.218477 deg,
      new cmd heading: 27.616746 deg.

2021-01-28T00:19:29.665Z,1611793169.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:30.434Z,1611793170.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:30.840Z,1611793170.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:31.673Z,1611793171.673 [Micromodem](INFO): Nmea in: $SNTTA,0.041202,,,,001932.18*45

2021-01-28T00:19:31.709Z,1611793171.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.039997 m, bearing: 33.763889 deg, deltaT: 4.485602 s, approachRate: -0.508294 m/s, LOS rate: 0.618587 deg/s, posRepo size: 4
2021-01-28T00:19:31.711Z,1611793171.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.039997 m,
      bearing: 33.763889 deg,
      approachRate: -0.508294 m/s,
      LOS rate: 0.618587 deg/s,
      cmd update: 2.474350 deg/s,
      cmd heading: 34.004691 deg,
      new cmd heading: 34.624719 deg.

2021-01-28T00:19:34.118Z,1611793174.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:34.878Z,1611793174.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:35.284Z,1611793175.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:36.121Z,1611793176.121 [Micromodem](INFO): Nmea in: $SNTTA,0.039196,,,,001936.62*4D

2021-01-28T00:19:36.165Z,1611793176.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.559998 m, bearing: 31.481407 deg, deltaT: 4.407869 s, approachRate: -0.789497 m/s, LOS rate: -0.517820 deg/s, posRepo size: 4
2021-01-28T00:19:36.169Z,1611793176.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.559998 m,
      bearing: 31.481407 deg,
      approachRate: -0.789497 m/s,
      LOS rate: -0.517820 deg/s,
      cmd update: -2.071279 deg/s,
      cmd heading: 44.911393 deg,
      new cmd heading: 46.037103 deg.

2021-01-28T00:19:38.566Z,1611793178.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:39.346Z,1611793179.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:39.728Z,1611793179.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:40.558Z,1611793180.558 [Micromodem](INFO): Nmea in: $SNTTA,0.037325,,,0.054951,001941.09*56

2021-01-28T00:19:40.611Z,1611793180.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.279999 m, bearing: 29.496961 deg, deltaT: 4.438570 s, approachRate: -0.513679 m/s, LOS rate: -0.447091 deg/s, posRepo size: 4
2021-01-28T00:19:40.617Z,1611793180.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.279999 m,
      bearing: 29.496961 deg,
      approachRate: -0.513679 m/s,
      LOS rate: -0.447091 deg/s,
      cmd update: -1.788366 deg/s,
      cmd heading: 35.717923 deg,
      new cmd heading: 34.752319 deg.

2021-01-28T00:19:42.990Z,1611793182.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:43.777Z,1611793183.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:44.195Z,1611793184.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:44.998Z,1611793184.998 [Micromodem](INFO): Nmea in: $SNTTA,0.035383,,,,001945.52*40

2021-01-28T00:19:45.036Z,1611793185.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.399998 m, bearing: 35.008589 deg, deltaT: 4.471136 s, approachRate: -0.644132 m/s, LOS rate: 1.232713 deg/s, posRepo size: 4
2021-01-28T00:19:45.038Z,1611793185.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.399998 m,
      bearing: 35.008589 deg,
      approachRate: -0.644132 m/s,
      LOS rate: 1.232713 deg/s,
      cmd update: 4.930852 deg/s,
      cmd heading: 27.721900 deg,
      new cmd heading: 26.972056 deg.

2021-01-28T00:19:47.460Z,1611793187.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:48.226Z,1611793188.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:48.620Z,1611793188.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:49.432Z,1611793189.432 [CTD_Seabird](ERROR): Failed to parse device response: 6.13,2.7453,2.86533,
2021-01-28T00:19:49.457Z,1611793189.457 [Micromodem](INFO): Nmea in: $SNTTA,0.033382,,,,001949.97*42

2021-01-28T00:19:49.511Z,1611793189.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.859997 m, bearing: 31.677775 deg, deltaT: 4.458863 s, approachRate: -0.793925 m/s, LOS rate: -0.747010 deg/s, posRepo size: 4
2021-01-28T00:19:49.513Z,1611793189.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.859997 m,
      bearing: 31.677775 deg,
      approachRate: -0.793925 m/s,
      LOS rate: -0.747010 deg/s,
      cmd update: -2.988039 deg/s,
      cmd heading: 49.707624 deg,
      new cmd heading: 51.856248 deg.

2021-01-28T00:19:51.874Z,1611793191.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:52.658Z,1611793192.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:53.064Z,1611793193.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:53.905Z,1611793193.905 [Micromodem](INFO): Nmea in: $SNTTA,0.031498,,,,001954.40*4A

2021-01-28T00:19:53.930Z,1611793193.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.040001 m, bearing: 31.402413 deg, deltaT: 4.433226 s, approachRate: -0.636105 m/s, LOS rate: -0.062113 deg/s, posRepo size: 4
2021-01-28T00:19:53.933Z,1611793193.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.040001 m,
      bearing: 31.402413 deg,
      approachRate: -0.636105 m/s,
      LOS rate: -0.062113 deg/s,
      cmd update: -0.248453 deg/s,
      cmd heading: 36.460714 deg,
      new cmd heading: 35.199654 deg.

2021-01-28T00:19:56.378Z,1611793196.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:19:57.094Z,1611793197.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:19:57.520Z,1611793197.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:19:58.353Z,1611793198.353 [Micromodem](INFO): Nmea in: $SNTTA,0.029557,,,,001958.84*45

2021-01-28T00:19:58.418Z,1611793198.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 29.943310 deg, deltaT: 4.432792 s, approachRate: -0.663239 m/s, LOS rate: -0.329161 deg/s, posRepo size: 4
2021-01-28T00:19:58.422Z,1611793198.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 29.943310 deg,
      approachRate: -0.663239 m/s,
      LOS rate: -0.329161 deg/s,
      cmd update: -1.316644 deg/s,
      cmd heading: 35.360370 deg,
      new cmd heading: 35.241452 deg.

2021-01-28T00:20:00.770Z,1611793200.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:01.554Z,1611793201.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:01.948Z,1611793201.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:02.773Z,1611793202.773 [Micromodem](INFO): Nmea in: $SNTTA,0.027683,,,,002003.30*4A

2021-01-28T00:20:02.810Z,1611793202.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 32.635894 deg, deltaT: 4.469504 s, approachRate: -0.617519 m/s, LOS rate: 0.602435 deg/s, posRepo size: 4
2021-01-28T00:20:02.817Z,1611793202.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.340000 m,
      bearing: 32.635894 deg,
      approachRate: -0.617519 m/s,
      LOS rate: 0.602435 deg/s,
      cmd update: 2.409738 deg/s,
      cmd heading: 29.470355 deg,
      new cmd heading: 28.944074 deg.

2021-01-28T00:20:05.232Z,1611793205.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:05.979Z,1611793205.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:06.412Z,1611793206.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:07.233Z,1611793207.233 [Micromodem](INFO): Nmea in: $SNTTA,0.025778,,,,002007.72*4F

2021-01-28T00:20:07.281Z,1611793207.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 34.142849 deg, deltaT: 4.421075 s, approachRate: -0.651426 m/s, LOS rate: 0.340857 deg/s, posRepo size: 4
2021-01-28T00:20:07.281Z,1611793207.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m.
2021-01-28T00:20:07.283Z,1611793207.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.459995 m,
      bearing: 34.142849 deg,
      approachRate: -0.651426 m/s,
      LOS rate: 0.340857 deg/s,
      cmd update: 1.363428 deg/s,
      cmd heading: 40.104207 deg,
      new cmd heading: 41.196177 deg.

2021-01-28T00:20:07.643Z,1611793207.643 [PowerOnly](INFO): Powering up loadControl
2021-01-28T00:20:09.666Z,1611793209.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:10.434Z,1611793210.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:10.847Z,1611793210.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:11.677Z,1611793211.677 [Micromodem](INFO): Nmea in: $SNTTA,0.023957,,,,002012.18*42

2021-01-28T00:20:11.707Z,1611793211.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 34.935157 deg, deltaT: 4.467114 s, approachRate: -0.604416 m/s, LOS rate: 0.177365 deg/s, posRepo size: 4
2021-01-28T00:20:11.708Z,1611793211.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.76 m.
2021-01-28T00:20:11.710Z,1611793211.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.760002 m,
      bearing: 34.935157 deg,
      approachRate: -0.604416 m/s,
      LOS rate: 0.177365 deg/s,
      cmd update: 0.709459 deg/s,
      cmd heading: 46.205841 deg,
      new cmd heading: 46.762759 deg.

2021-01-28T00:20:14.086Z,1611793214.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:14.874Z,1611793214.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:15.288Z,1611793215.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:16.122Z,1611793216.122 [Micromodem](INFO): Nmea in: $SNTTA,0.022113,,,,002016.62*42

2021-01-28T00:20:16.143Z,1611793216.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.939999 m, bearing: 33.316310 deg, deltaT: 4.428206 s, approachRate: -0.636828 m/s, LOS rate: -0.365576 deg/s, posRepo size: 4
2021-01-28T00:20:16.144Z,1611793216.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.94 m.
2021-01-28T00:20:16.146Z,1611793216.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.939999 m,
      bearing: 33.316310 deg,
      approachRate: -0.636828 m/s,
      LOS rate: -0.365576 deg/s,
      cmd update: -1.462305 deg/s,
      cmd heading: 49.347432 deg,
      new cmd heading: 49.642816 deg.

2021-01-28T00:20:18.586Z,1611793218.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:19.318Z,1611793219.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:19.732Z,1611793219.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:20.581Z,1611793220.581 [Micromodem](INFO): Nmea in: $SNTTA,0.020191,,,,002021.06*4C

2021-01-28T00:20:20.606Z,1611793220.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.059999 m, bearing: 33.175598 deg, deltaT: 4.570994 s, approachRate: -0.630060 m/s, LOS rate: -0.030784 deg/s, posRepo size: 4
2021-01-28T00:20:20.606Z,1611793220.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.06 m.
2021-01-28T00:20:20.633Z,1611793220.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.059999 m,
      bearing: 33.175598 deg,
      approachRate: -0.630060 m/s,
      LOS rate: -0.030784 deg/s,
      cmd update: -0.123135 deg/s,
      cmd heading: 42.721215 deg,
      new cmd heading: 42.212850 deg.

2021-01-28T00:20:22.985Z,1611793222.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:23.762Z,1611793223.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:24.177Z,1611793224.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:25.015Z,1611793225.015 [Micromodem](INFO): Nmea in: $SNTTA,0.019152,,,,002025.51*4F

2021-01-28T00:20:25.030Z,1611793225.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.559998 m, bearing: 35.169532 deg, deltaT: 4.345882 s, approachRate: -0.345155 m/s, LOS rate: 0.458810 deg/s, posRepo size: 4
2021-01-28T00:20:25.031Z,1611793225.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.56 m.
2021-01-28T00:20:25.033Z,1611793225.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.559998 m,
      bearing: 35.169532 deg,
      approachRate: -0.345155 m/s,
      LOS rate: 0.458810 deg/s,
      cmd update: 1.835240 deg/s,
      cmd heading: 42.182186 deg,
      new cmd heading: 42.133623 deg.

2021-01-28T00:20:27.461Z,1611793227.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:28.226Z,1611793228.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:28.651Z,1611793228.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:29.493Z,1611793229.493 [Micromodem](INFO): Nmea in: $SNTTA,0.016710,,,,002029.97*46

2021-01-28T00:20:29.547Z,1611793229.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.840002 m, bearing: 34.667127 deg, deltaT: 4.431417 s, approachRate: -0.839460 m/s, LOS rate: -0.113373 deg/s, posRepo size: 4
2021-01-28T00:20:29.552Z,1611793229.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.84 m.
2021-01-28T00:20:29.554Z,1611793229.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.840002 m,
      bearing: 34.667127 deg,
      approachRate: -0.839460 m/s,
      LOS rate: -0.113373 deg/s,
      cmd update: -0.453494 deg/s,
      cmd heading: 50.329323 deg,
      new cmd heading: 51.195795 deg.

2021-01-28T00:20:31.891Z,1611793231.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:32.682Z,1611793232.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:33.084Z,1611793233.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:33.921Z,1611793233.921 [Micromodem](INFO): Nmea in: $SNTTA,0.015008,,,,002034.43*4E

2021-01-28T00:20:33.959Z,1611793233.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 30.879917 deg, deltaT: 4.469149 s, approachRate: -0.563866 m/s, LOS rate: -0.847412 deg/s, posRepo size: 4
2021-01-28T00:20:33.964Z,1611793233.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.32 m.
2021-01-28T00:20:33.964Z,1611793233.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 22.32 m.
2021-01-28T00:20:33.965Z,1611793233.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-28T00:20:33.966Z,1611793233.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 30.879917 deg,
      approachRate: -0.563866 m/s,
      LOS rate: -0.847412 deg/s,
      cmd update: -3.389648 deg/s,
      cmd heading: 48.309765 deg,
      new cmd heading: 48.114439 deg.

2021-01-28T00:20:36.382Z,1611793236.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:37.126Z,1611793237.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:37.532Z,1611793237.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:38.381Z,1611793238.381 [Micromodem](INFO): Nmea in: $SNTTA,0.013238,,,0.058843,002038.87*51

2021-01-28T00:20:38.416Z,1611793238.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 29.255920 deg, deltaT: 4.404862 s, approachRate: -0.599337 m/s, LOS rate: -0.368683 deg/s, posRepo size: 4
2021-01-28T00:20:38.418Z,1611793238.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.680002 m,
      bearing: 29.255920 deg,
      approachRate: -0.599337 m/s,
      LOS rate: -0.368683 deg/s,
      cmd update: -1.474731 deg/s,
      cmd heading: 33.324258 deg,
      new cmd heading: 31.743543 deg.

2021-01-28T00:20:40.778Z,1611793240.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:41.566Z,1611793241.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:41.982Z,1611793241.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:42.810Z,1611793242.810 [Micromodem](INFO): Nmea in: $SNTTA,0.011459,,,,002043.31*4F

2021-01-28T00:20:42.846Z,1611793242.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.980001 m, bearing: 29.805289 deg, deltaT: 4.498395 s, approachRate: -0.600214 m/s, LOS rate: 0.122126 deg/s, posRepo size: 4
2021-01-28T00:20:42.847Z,1611793242.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.980001 m,
      bearing: 29.805289 deg,
      approachRate: -0.600214 m/s,
      LOS rate: 0.122126 deg/s,
      cmd update: 0.488502 deg/s,
      cmd heading: 26.690369 deg,
      new cmd heading: 26.103892 deg.

2021-01-28T00:20:45.271Z,1611793245.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:46.018Z,1611793246.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:46.429Z,1611793246.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:47.281Z,1611793247.281 [Micromodem](INFO): Nmea in: $SNTTA,0.009711,,,,002047.76*4E

2021-01-28T00:20:47.346Z,1611793247.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 32.731298 deg, deltaT: 4.416527 s, approachRate: -0.584170 m/s, LOS rate: 0.662513 deg/s, posRepo size: 4
2021-01-28T00:20:47.368Z,1611793247.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 32.731298 deg,
      approachRate: -0.584170 m/s,
      LOS rate: 0.662513 deg/s,
      cmd update: 2.650054 deg/s,
      cmd heading: 28.844740 deg,
      new cmd heading: 29.079331 deg.

2021-01-28T00:20:49.380Z,1611793249.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:50.070Z,1611793250.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:50.480Z,1611793250.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:51.328Z,1611793251.328 [Micromodem](INFO): Nmea in: $SNTTA,0.008202,,,,002051.81*47

2021-01-28T00:20:51.391Z,1611793251.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 35.205530 deg, deltaT: 4.044264 s, approachRate: -0.578598 m/s, LOS rate: 0.611788 deg/s, posRepo size: 4
2021-01-28T00:20:51.393Z,1611793251.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 35.205530 deg,
      approachRate: -0.578598 m/s,
      LOS rate: 0.611788 deg/s,
      cmd update: 2.447152 deg/s,
      cmd heading: 39.578688 deg,
      new cmd heading: 40.856976 deg.

2021-01-28T00:20:53.752Z,1611793253.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:54.530Z,1611793254.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:54.920Z,1611793254.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:20:55.781Z,1611793255.781 [Micromodem](INFO): Nmea in: $SNTTA,0.006399,,,,002056.27*41

2021-01-28T00:20:55.806Z,1611793255.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 36.612382 deg, deltaT: 4.475475 s, approachRate: -0.589881 m/s, LOS rate: 0.314347 deg/s, posRepo size: 4
2021-01-28T00:20:55.808Z,1611793255.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 36.612382 deg,
      approachRate: -0.589881 m/s,
      LOS rate: 0.314347 deg/s,
      cmd update: 1.257388 deg/s,
      cmd heading: 50.521443 deg,
      new cmd heading: 51.563166 deg.

2021-01-28T00:20:58.162Z,1611793258.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:20:58.958Z,1611793258.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:20:59.380Z,1611793259.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:00.222Z,1611793260.222 [Micromodem](INFO): Nmea in: $SNTTA,0.004736,,,,002100.70*42

2021-01-28T00:21:00.246Z,1611793260.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.900000 m, bearing: 31.855797 deg, deltaT: 4.401736 s, approachRate: -0.572501 m/s, LOS rate: -1.080616 deg/s, posRepo size: 4
2021-01-28T00:21:00.249Z,1611793260.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 31.855797 deg,
      approachRate: -0.572501 m/s,
      LOS rate: -1.080616 deg/s,
      cmd update: -4.322463 deg/s,
      cmd heading: 56.061200 deg,
      new cmd heading: 56.640147 deg.

2021-01-28T00:21:02.633Z,1611793262.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:03.414Z,1611793263.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:03.812Z,1611793263.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:04.645Z,1611793264.645 [Micromodem](INFO): Nmea in: $SNTTA,0.003152,,,,002105.16*44

2021-01-28T00:21:04.669Z,1611793264.669 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-28T00:21:04.669Z,1611793264.669 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:21:04.669Z,1611793264.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-28T00:21:04.669Z,1611793264.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:21:04.669Z,1611793264.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-28T00:21:04.670Z,1611793264.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-01-28T00:21:04.670Z,1611793264.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-28T00:21:04.670Z,1611793264.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-28T00:21:04.670Z,1611793264.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-28T00:21:04.673Z,1611793264.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 24.846405 deg, deltaT: 4.472494 s, approachRate: -0.550029 m/s, LOS rate: -1.567222 deg/s, posRepo size: 4
2021-01-28T00:21:04.674Z,1611793264.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 24.846405 deg,
      approachRate: -0.550029 m/s,
      LOS rate: -1.567222 deg/s,
      cmd update: -6.268890 deg/s,
      cmd heading: 36.728951 deg,
      new cmd heading: 34.939590 deg.

2021-01-28T00:21:05.076Z,1611793265.076 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210128T002105: (41.551998, -70.709610)
2021-01-28T00:21:05.077Z,1611793265.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-28T00:21:05.077Z,1611793265.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-28T00:21:05.077Z,1611793265.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:21:05.077Z,1611793265.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-28T00:21:05.077Z,1611793265.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:21:05.077Z,1611793265.077 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-28T00:21:05.077Z,1611793265.077 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-28T00:21:05.077Z,1611793265.077 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:21:07.062Z,1611793267.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:07.846Z,1611793267.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:08.260Z,1611793268.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:09.097Z,1611793269.097 [Micromodem](INFO): Nmea in: $SNTTA,0.001921,,,,002109.59*4D

2021-01-28T00:21:09.119Z,1611793269.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 7.618447 deg, deltaT: 4.437981 s, approachRate: -0.419109 m/s, LOS rate: -3.881936 deg/s, posRepo size: 4
2021-01-28T00:21:09.141Z,1611793269.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 7.618447 deg,
      approachRate: -0.419109 m/s,
      LOS rate: -3.881936 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 8.932976 deg,
      new cmd heading: 6.255847 deg.

2021-01-28T00:21:11.552Z,1611793271.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:12.317Z,1611793272.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:12.736Z,1611793272.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:13.565Z,1611793273.565 [Micromodem](INFO): Nmea in: $SNTTA,0.001831,,,,002114.06*4B

2021-01-28T00:21:13.600Z,1611793273.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 355.773161 deg, deltaT: 4.467594 s, approachRate: -0.013430 m/s, LOS rate: -2.651379 deg/s, posRepo size: 4
2021-01-28T00:21:13.602Z,1611793273.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 355.773161 deg,
      approachRate: -0.013430 m/s,
      LOS rate: -2.651379 deg/s,
      cmd update: -10.605517 deg/s,
      cmd heading: 315.349111 deg,
      new cmd heading: 310.043755 deg.

2021-01-28T00:21:15.979Z,1611793275.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:16.758Z,1611793276.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:17.176Z,1611793277.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:18.011Z,1611793278.011 [Micromodem](INFO): Nmea in: $SNTTA,0.002575,,,,002118.50*4A

2021-01-28T00:21:18.028Z,1611793278.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 342.952869 deg, deltaT: 4.456162 s, approachRate: 0.350077 m/s, LOS rate: -2.876981 deg/s, posRepo size: 4
2021-01-28T00:21:18.030Z,1611793278.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 342.952869 deg,
      approachRate: 0.350077 m/s,
      LOS rate: -2.876981 deg/s,
      cmd update: -11.507923 deg/s,
      cmd heading: 268.022807 deg,
      new cmd heading: 263.699712 deg.

2021-01-28T00:21:20.457Z,1611793280.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:21.226Z,1611793281.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:21.609Z,1611793281.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:22.441Z,1611793282.441 [Micromodem](INFO): Nmea in: $SNTTA,0.004093,0.047675,,,002122.97*5A

2021-01-28T00:21:22.489Z,1611793282.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 356.354847 deg, deltaT: 4.408828 s, approachRate: 0.421881 m/s, LOS rate: 3.039805 deg/s, posRepo size: 4
2021-01-28T00:21:22.490Z,1611793282.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 356.354847 deg,
      approachRate: 0.421881 m/s,
      LOS rate: 3.039805 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 217.288069 deg,
      new cmd heading: 211.998476 deg.

2021-01-28T00:21:24.537Z,1611793284.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:25.262Z,1611793285.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:25.661Z,1611793285.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:26.481Z,1611793286.481 [Micromodem](INFO): Nmea in: $SNTTA,0.005235,,,0.046925,002127.01*54

2021-01-28T00:21:26.529Z,1611793286.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.859999 m, bearing: 297.471486 deg, deltaT: 4.068301 s, approachRate: 1.209350 m/s, LOS rate: -14.473698 deg/s, posRepo size: 4
2021-01-28T00:21:26.529Z,1611793286.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.473698 deg/s. Setting heading cmd to target bearing of 297.471486deg and heading rate command to 0 deg/s.
2021-01-28T00:21:28.918Z,1611793288.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:29.694Z,1611793289.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:30.096Z,1611793290.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:30.941Z,1611793290.941 [Micromodem](INFO): Nmea in: $SNTTA,0.006695,,,,002131.44*4D

2021-01-28T00:21:30.963Z,1611793290.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.200003 m, bearing: 302.506783 deg, deltaT: 4.439007 s, approachRate: -0.148681 m/s, LOS rate: 1.134330 deg/s, posRepo size: 4
2021-01-28T00:21:30.982Z,1611793290.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 302.506783 deg,
      approachRate: -0.148681 m/s,
      LOS rate: 1.134330 deg/s,
      cmd update: 4.537319 deg/s,
      cmd heading: 297.471486 deg,
      new cmd heading: 297.471486 deg.

2021-01-28T00:21:33.387Z,1611793293.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:34.134Z,1611793294.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:34.568Z,1611793294.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:35.389Z,1611793295.389 [Micromodem](INFO): Nmea in: $SNTTA,0.007998,,,,002135.88*4A

2021-01-28T00:21:35.452Z,1611793295.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 274.471726 deg, deltaT: 4.441769 s, approachRate: 0.432260 m/s, LOS rate: -6.311687 deg/s, posRepo size: 4
2021-01-28T00:21:35.454Z,1611793295.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 274.471726 deg,
      approachRate: 0.432260 m/s,
      LOS rate: -6.311687 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 317.616409 deg,
      new cmd heading: 319.757842 deg.

2021-01-28T00:21:37.785Z,1611793297.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:38.578Z,1611793298.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:38.986Z,1611793298.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:39.817Z,1611793299.817 [Micromodem](INFO): Nmea in: $SNTTA,0.009675,,0.010825,,002140.32*5B

2021-01-28T00:21:39.854Z,1611793299.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.439999 m, bearing: 268.650109 deg, deltaT: 4.474011 s, approachRate: 0.965576 m/s, LOS rate: -1.301207 deg/s, posRepo size: 4
2021-01-28T00:21:39.856Z,1611793299.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.439999 m,
      bearing: 268.650109 deg,
      approachRate: 0.965576 m/s,
      LOS rate: -1.301207 deg/s,
      cmd update: -5.204830 deg/s,
      cmd heading: 263.905476 deg,
      new cmd heading: 259.080408 deg.

2021-01-28T00:21:42.227Z,1611793302.227 [PowerOnly](INFO): Powering down loadControl
2021-01-28T00:21:42.278Z,1611793302.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:43.026Z,1611793303.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:43.442Z,1611793303.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:44.273Z,1611793304.273 [Micromodem](INFO): Nmea in: $SNTTA,0.011780,,,,002144.77*4C

2021-01-28T00:21:44.293Z,1611793304.293 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-28T00:21:44.305Z,1611793304.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 275.840468 deg, deltaT: 4.389229 s, approachRate: 0.300736 m/s, LOS rate: 1.638183 deg/s, posRepo size: 4
2021-01-28T00:21:44.307Z,1611793304.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 275.840468 deg,
      approachRate: 0.300736 m/s,
      LOS rate: 1.638183 deg/s,
      cmd update: 6.552731 deg/s,
      cmd heading: 241.061963 deg,
      new cmd heading: 238.644231 deg.

2021-01-28T00:21:46.712Z,1611793306.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:47.466Z,1611793307.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:47.872Z,1611793307.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:48.717Z,1611793308.717 [Micromodem](INFO): Nmea in: $SNTTA,0.013884,,,,002149.21*4B

2021-01-28T00:21:48.768Z,1611793308.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.000000 m, bearing: 294.982456 deg, deltaT: 4.453505 s, approachRate: 0.727517 m/s, LOS rate: 4.298185 deg/s, posRepo size: 4
2021-01-28T00:21:48.769Z,1611793308.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.00 m. Rolling out.
2021-01-28T00:21:48.769Z,1611793308.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-28T00:21:51.118Z,1611793311.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:51.920Z,1611793311.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:52.320Z,1611793312.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:53.148Z,1611793313.148 [Micromodem](INFO): Nmea in: $SNTTA,0.015837,,,,002153.66*4D

2021-01-28T00:21:53.220Z,1611793313.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.000002 m, bearing: 266.306098 deg, deltaT: 4.482673 s, approachRate: 0.669244 m/s, LOS rate: -6.397156 deg/s, posRepo size: 4
2021-01-28T00:21:54.762Z,1611793314.762 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:21:55.599Z,1611793315.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:21:56.373Z,1611793316.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:21:56.760Z,1611793316.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:21:57.585Z,1611793317.585 [Micromodem](INFO): Nmea in: $SNTTA,0.017898,,,0.046817,002158.12*50

2021-01-28T00:21:57.636Z,1611793317.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.959997 m, bearing: 299.001722 deg, deltaT: 4.462977 s, approachRate: 0.887299 m/s, LOS rate: 7.325967 deg/s, posRepo size: 4
2021-01-28T00:22:00.040Z,1611793320.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:00.794Z,1611793320.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:01.224Z,1611793321.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:02.057Z,1611793322.057 [Micromodem](INFO): Nmea in: $SNTTA,0.020174,,,,002202.54*43

2021-01-28T00:22:02.079Z,1611793322.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 271.936605 deg, deltaT: 4.406071 s, approachRate: 0.735350 m/s, LOS rate: -6.142687 deg/s, posRepo size: 4
2021-01-28T00:22:04.478Z,1611793324.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:05.262Z,1611793325.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:05.716Z,1611793325.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:06.517Z,1611793326.517 [Micromodem](INFO): Nmea in: $SNTTA,0.022583,,,,002207.01*48

2021-01-28T00:22:06.569Z,1611793326.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 274.810612 deg, deltaT: 4.486901 s, approachRate: 0.775591 m/s, LOS rate: 0.640533 deg/s, posRepo size: 4
2021-01-28T00:22:08.958Z,1611793328.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:09.738Z,1611793329.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:10.149Z,1611793330.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:10.995Z,1611793330.995 [Micromodem](INFO): Nmea in: $SNTTA,0.025011,,,,002211.48*4B

2021-01-28T00:22:11.026Z,1611793331.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.520000 m, bearing: 274.531449 deg, deltaT: 4.461314 s, approachRate: 0.860733 m/s, LOS rate: -0.062574 deg/s, posRepo size: 4
2021-01-28T00:22:13.430Z,1611793333.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:14.206Z,1611793334.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:14.677Z,1611793334.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:15.437Z,1611793335.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002215.95*56

2021-01-28T00:22:15.491Z,1611793335.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.879997 m, bearing: 279.901343 deg, deltaT: 4.439602 s, approachRate: 0.756824 m/s, LOS rate: 1.209544 deg/s, posRepo size: 4
2021-01-28T00:22:17.837Z,1611793337.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:18.627Z,1611793338.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:19.048Z,1611793339.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:19.877Z,1611793339.877 [Micromodem](INFO): Nmea in: $SNTTA,0.029909,,,,002220.37*4D

2021-01-28T00:22:19.904Z,1611793339.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.540001 m, bearing: 277.877804 deg, deltaT: 4.506311 s, approachRate: 0.812195 m/s, LOS rate: -0.449046 deg/s, posRepo size: 4
2021-01-28T00:22:22.300Z,1611793342.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:23.067Z,1611793343.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:23.477Z,1611793343.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:24.319Z,1611793344.319 [Micromodem](INFO): Nmea in: $SNTTA,0.032476,,,,002224.81*4B

2021-01-28T00:22:24.388Z,1611793344.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.199993 m, bearing: 275.363584 deg, deltaT: 4.367823 s, approachRate: 0.837944 m/s, LOS rate: -0.575623 deg/s, posRepo size: 4
2021-01-28T00:22:26.727Z,1611793346.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:27.514Z,1611793347.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:27.929Z,1611793347.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:28.765Z,1611793348.765 [Micromodem](INFO): Nmea in: $SNTTA,0.035098,,,,002229.30*4F

2021-01-28T00:22:28.805Z,1611793348.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.159996 m, bearing: 271.968024 deg, deltaT: 4.491450 s, approachRate: 0.881676 m/s, LOS rate: -0.756005 deg/s, posRepo size: 4
2021-01-28T00:22:31.169Z,1611793351.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:31.958Z,1611793351.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:32.375Z,1611793352.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:33.209Z,1611793353.209 [Micromodem](INFO): Nmea in: $SNTTA,0.037635,,,,002233.70*43

2021-01-28T00:22:33.285Z,1611793353.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.580002 m, bearing: 274.113742 deg, deltaT: 4.376563 s, approachRate: 0.781436 m/s, LOS rate: 0.490275 deg/s, posRepo size: 4
2021-01-28T00:22:35.633Z,1611793355.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:36.419Z,1611793356.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:36.819Z,1611793356.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:37.633Z,1611793357.633 [Micromodem](INFO): Nmea in: $SNTTA,0.040224,,,,002238.16*4C

2021-01-28T00:22:37.668Z,1611793357.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.840000 m, bearing: 276.703777 deg, deltaT: 4.481394 s, approachRate: 0.950597 m/s, LOS rate: 0.577953 deg/s, posRepo size: 4
2021-01-28T00:22:40.062Z,1611793360.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:40.850Z,1611793360.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:41.256Z,1611793361.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:42.089Z,1611793362.089 [Micromodem](INFO): Nmea in: $SNTTA,0.042884,,,,002242.59*48

2021-01-28T00:22:42.111Z,1611793362.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.739998 m, bearing: 274.225839 deg, deltaT: 4.445374 s, approachRate: 0.877316 m/s, LOS rate: -0.557419 deg/s, posRepo size: 4
2021-01-28T00:22:44.525Z,1611793364.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:45.290Z,1611793365.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:45.696Z,1611793365.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:46.541Z,1611793366.541 [Micromodem](INFO): Nmea in: $SNTTA,0.045487,,,,002247.03*4A

2021-01-28T00:22:46.587Z,1611793366.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.699997 m, bearing: 272.277896 deg, deltaT: 4.413096 s, approachRate: 0.897329 m/s, LOS rate: -0.441400 deg/s, posRepo size: 4
2021-01-28T00:22:48.942Z,1611793368.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:49.730Z,1611793369.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:50.140Z,1611793370.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:50.970Z,1611793370.970 [Micromodem](INFO): Nmea in: $SNTTA,0.048060,,,,002251.47*4D

2021-01-28T00:22:51.779Z,1611793371.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:53.378Z,1611793373.378 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:22:54.639Z,1611793374.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:55.418Z,1611793375.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:22:55.796Z,1611793375.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:22:56.637Z,1611793376.637 [Micromodem](INFO): Nmea in: $SNTTA,0.051430,,,,002257.16*46

2021-01-28T00:22:56.673Z,1611793376.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 285.345414 deg, deltaT: 10.153020 s, approachRate: 0.880527 m/s, LOS rate: 1.287057 deg/s, posRepo size: 4
2021-01-28T00:22:59.047Z,1611793379.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:22:59.838Z,1611793379.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:00.280Z,1611793380.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:01.081Z,1611793381.081 [Micromodem](INFO): Nmea in: $SNTTA,0.054041,,,,002301.58*49

2021-01-28T00:23:01.097Z,1611793381.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.300003 m, bearing: 275.299681 deg, deltaT: 4.414478 s, approachRate: 0.829089 m/s, LOS rate: -2.275633 deg/s, posRepo size: 4
2021-01-28T00:23:03.518Z,1611793383.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:04.275Z,1611793384.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:04.684Z,1611793384.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:05.521Z,1611793385.521 [Micromodem](INFO): Nmea in: $SNTTA,0.056624,,0.099024,,002306.02*5E

2021-01-28T00:23:05.566Z,1611793385.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.080002 m, bearing: 281.729567 deg, deltaT: 4.442515 s, approachRate: 0.850869 m/s, LOS rate: 1.447353 deg/s, posRepo size: 4
2021-01-28T00:23:07.945Z,1611793387.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:08.723Z,1611793388.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:09.135Z,1611793389.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:09.969Z,1611793389.969 [Micromodem](INFO): Nmea in: $SNTTA,0.059192,,,,002310.47*45

2021-01-28T00:23:09.998Z,1611793389.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 280.710994 deg, deltaT: 4.508602 s, approachRate: 0.865013 m/s, LOS rate: -0.225918 deg/s, posRepo size: 4
2021-01-28T00:23:12.434Z,1611793392.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:13.167Z,1611793393.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:13.580Z,1611793393.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:14.429Z,1611793394.429 [Micromodem](INFO): Nmea in: $SNTTA,0.061844,,,,002314.91*43

2021-01-28T00:23:14.464Z,1611793394.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.940010 m, bearing: 281.407182 deg, deltaT: 4.355974 s, approachRate: 0.909098 m/s, LOS rate: 0.159824 deg/s, posRepo size: 4
2021-01-28T00:23:16.838Z,1611793396.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:17.610Z,1611793397.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:18.025Z,1611793398.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:18.857Z,1611793398.857 [Micromodem](INFO): Nmea in: $SNTTA,0.064374,,,,002319.35*4D

2021-01-28T00:23:18.871Z,1611793398.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 277.692242 deg, deltaT: 4.476934 s, approachRate: 0.857727 m/s, LOS rate: -0.829796 deg/s, posRepo size: 4
2021-01-28T00:23:21.307Z,1611793401.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:22.062Z,1611793402.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:22.469Z,1611793402.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:23.286Z,1611793403.286 [Micromodem](INFO): Nmea in: $SNTTA,0.066973,,,,002323.81*44

2021-01-28T00:23:24.112Z,1611793404.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:25.689Z,1611793405.689 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:23:26.922Z,1611793406.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:27.707Z,1611793407.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:28.124Z,1611793408.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:28.953Z,1611793408.953 [Micromodem](INFO): Nmea in: $SNTTA,0.070198,,,,002329.45*4C

2021-01-28T00:23:28.969Z,1611793408.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.840004 m, bearing: 287.265298 deg, deltaT: 10.098863 s, approachRate: 0.897131 m/s, LOS rate: 0.947934 deg/s, posRepo size: 4
2021-01-28T00:23:31.425Z,1611793411.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:32.154Z,1611793412.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:32.560Z,1611793412.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:33.433Z,1611793413.433 [Micromodem](INFO): Nmea in: $SNTTA,0.072714,,,,002333.90*4F

2021-01-28T00:23:33.487Z,1611793413.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.200005 m, bearing: 292.742482 deg, deltaT: 4.443790 s, approachRate: 0.756112 m/s, LOS rate: 1.232548 deg/s, posRepo size: 4
2021-01-28T00:23:35.826Z,1611793415.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:36.610Z,1611793416.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:37.018Z,1611793417.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:37.857Z,1611793417.857 [Micromodem](INFO): Nmea in: $SNTTA,0.075219,,,,002338.35*44

2021-01-28T00:23:37.917Z,1611793417.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.399994 m, bearing: 285.175124 deg, deltaT: 4.449041 s, approachRate: 0.944021 m/s, LOS rate: -1.700896 deg/s, posRepo size: 4
2021-01-28T00:23:40.283Z,1611793420.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:41.060Z,1611793421.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:41.464Z,1611793421.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:42.313Z,1611793422.313 [Micromodem](INFO): Nmea in: $SNTTA,0.077653,,,,002342.80*4F

2021-01-28T00:23:42.397Z,1611793422.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.640007 m, bearing: 288.504650 deg, deltaT: 4.421038 s, approachRate: 0.732863 m/s, LOS rate: 0.753110 deg/s, posRepo size: 4
2021-01-28T00:23:43.496Z,1611793423.496 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-28T00:23:43.515Z,1611793423.515 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:23:44.732Z,1611793424.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:45.506Z,1611793425.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:45.913Z,1611793425.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:46.753Z,1611793426.753 [Micromodem](INFO): Nmea in: $SNTTA,0.080168,,,,002347.25*42

2021-01-28T00:23:46.777Z,1611793426.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.720001 m, bearing: 278.992327 deg, deltaT: 4.544621 s, approachRate: 0.897763 m/s, LOS rate: -2.093095 deg/s, posRepo size: 4
2021-01-28T00:23:49.152Z,1611793429.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:49.938Z,1611793429.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:50.368Z,1611793430.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:51.183Z,1611793431.183 [Micromodem](INFO): Nmea in: $SNTTA,0.082598,,,,002351.68*45

2021-01-28T00:23:51.985Z,1611793431.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:53.589Z,1611793433.589 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:23:54.830Z,1611793434.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:23:55.607Z,1611793435.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:23:56.006Z,1611793436.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:23:56.841Z,1611793436.841 [Micromodem](INFO): Nmea in: $SNTTA,0.085630,,,,002357.35*4D

2021-01-28T00:23:56.878Z,1611793436.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.580002 m, bearing: 284.418175 deg, deltaT: 10.042605 s, approachRate: 0.782665 m/s, LOS rate: 0.540283 deg/s, posRepo size: 4
2021-01-28T00:23:59.287Z,1611793439.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:00.047Z,1611793440.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:00.448Z,1611793440.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:01.301Z,1611793441.301 [Micromodem](INFO): Nmea in: $SNTTA,0.088061,,,,002401.79*4E

2021-01-28T00:24:01.383Z,1611793441.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 281.222985 deg, deltaT: 4.400744 s, approachRate: 0.886212 m/s, LOS rate: -0.726057 deg/s, posRepo size: 4
2021-01-28T00:24:03.380Z,1611793443.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:04.082Z,1611793444.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:04.501Z,1611793444.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:05.334Z,1611793445.334 [Micromodem](INFO): Nmea in: $SNTTA,0.090340,,,,002405.83*46

2021-01-28T00:24:05.391Z,1611793445.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.840012 m, bearing: 283.128444 deg, deltaT: 4.063987 s, approachRate: 0.826778 m/s, LOS rate: 0.468864 deg/s, posRepo size: 4
2021-01-28T00:24:07.752Z,1611793447.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:08.528Z,1611793448.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:08.932Z,1611793448.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:09.781Z,1611793449.781 [Micromodem](INFO): Nmea in: $SNTTA,0.092712,,,,002410.27*4D

2021-01-28T00:24:09.803Z,1611793449.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.500000 m, bearing: 280.282659 deg, deltaT: 4.474577 s, approachRate: 0.817952 m/s, LOS rate: -0.635990 deg/s, posRepo size: 4
2021-01-28T00:24:12.231Z,1611793452.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:12.970Z,1611793452.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:13.404Z,1611793453.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:14.223Z,1611793454.223 [Micromodem](INFO): Nmea in: $SNTTA,0.095204,,,,002414.71*4F

2021-01-28T00:24:14.259Z,1611793454.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 277.316800 deg, deltaT: 4.468430 s, approachRate: 0.819080 m/s, LOS rate: -0.663736 deg/s, posRepo size: 4
2021-01-28T00:24:16.643Z,1611793456.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:17.418Z,1611793457.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:17.824Z,1611793457.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:18.657Z,1611793458.657 [Micromodem](INFO): Nmea in: $SNTTA,0.097668,,,,002419.16*4F

2021-01-28T00:24:18.683Z,1611793458.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.819992 m, bearing: 277.258497 deg, deltaT: 4.422649 s, approachRate: 0.827556 m/s, LOS rate: -0.013183 deg/s, posRepo size: 4
2021-01-28T00:24:21.074Z,1611793461.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:21.858Z,1611793461.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:22.268Z,1611793462.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:23.109Z,1611793463.109 [Micromodem](INFO): Nmea in: $SNTTA,0.100268,,,,002423.60*4C

2021-01-28T00:24:23.134Z,1611793463.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.720001 m, bearing: 277.193255 deg, deltaT: 4.410367 s, approachRate: 0.884282 m/s, LOS rate: -0.014793 deg/s, posRepo size: 4
2021-01-28T00:24:23.135Z,1611793463.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.72 m. Resuming terminal guidance.
2021-01-28T00:24:23.135Z,1611793463.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-28T00:24:25.539Z,1611793465.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:26.382Z,1611793466.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:26.726Z,1611793466.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:27.933Z,1611793467.933 [Micromodem](INFO): Nmea in: $SNTTA,0.102686,,,,002428.13*45

2021-01-28T00:24:27.958Z,1611793467.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 282.890835 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-28T00:24:27.959Z,1611793467.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 282.890835deg and heading rate command to 0 deg/s.
2021-01-28T00:24:30.393Z,1611793470.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:31.150Z,1611793471.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:31.552Z,1611793471.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:32.413Z,1611793472.413 [Micromodem](INFO): Nmea in: $SNTTA,0.105618,,,,002432.89*4D

2021-01-28T00:24:32.447Z,1611793472.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.160004 m, bearing: 282.422967 deg, deltaT: 4.389357 s, approachRate: 0.833833 m/s, LOS rate: -0.106591 deg/s, posRepo size: 2
2021-01-28T00:24:32.449Z,1611793472.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.160004 m,
      bearing: 282.422967 deg,
      approachRate: 0.833833 m/s,
      LOS rate: -0.106591 deg/s,
      cmd update: -0.426366 deg/s,
      cmd heading: 282.890835 deg,
      new cmd heading: 282.890835 deg.

2021-01-28T00:24:34.801Z,1611793474.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:35.594Z,1611793475.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:36.002Z,1611793476.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:36.833Z,1611793476.833 [Micromodem](INFO): Nmea in: $SNTTA,0.107641,,,,002437.34*40

2021-01-28T00:24:36.881Z,1611793476.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 266.682714 deg, deltaT: 4.491146 s, approachRate: 0.801575 m/s, LOS rate: -3.504730 deg/s, posRepo size: 3
2021-01-28T00:24:36.883Z,1611793476.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.759995 m,
      bearing: 266.682714 deg,
      approachRate: 0.801575 m/s,
      LOS rate: -3.504730 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.976399 deg,
      new cmd heading: 280.801637 deg.

2021-01-28T00:24:39.291Z,1611793479.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:40.050Z,1611793480.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:40.463Z,1611793480.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:41.297Z,1611793481.297 [Micromodem](INFO): Nmea in: $SNTTA,0.110008,,,0.108958,002441.79*56

2021-01-28T00:24:41.325Z,1611793481.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 302.193141 deg, deltaT: 4.410005 s, approachRate: 0.000000 m/s, LOS rate: 8.052241 deg/s, posRepo size: 4
2021-01-28T00:24:41.327Z,1611793481.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.759995 m,
      bearing: 302.193141 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 8.052241 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 228.119542 deg,
      new cmd heading: 222.729118 deg.

2021-01-28T00:24:43.737Z,1611793483.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:44.486Z,1611793484.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:44.888Z,1611793484.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:45.727Z,1611793485.727 [Micromodem](INFO): Nmea in: $SNTTA,0.112408,,,,002446.23*4B

2021-01-28T00:24:46.138Z,1611793486.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.839966 m, bearing: 281.521136 deg, deltaT: 4.914624 s, approachRate: 39.286823 m/s, LOS rate: -4.206223 deg/s, posRepo size: 4
2021-01-28T00:24:46.141Z,1611793486.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.839966 m,
      bearing: 281.521136 deg,
      approachRate: 39.286823 m/s,
      LOS rate: -4.206223 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 287.158176 deg,
      new cmd heading: 291.271020 deg.

2021-01-28T00:24:48.561Z,1611793488.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:49.326Z,1611793489.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:49.740Z,1611793489.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:50.577Z,1611793490.577 [Micromodem](INFO): Nmea in: $SNTTA,0.114897,,,,002451.07*47

2021-01-28T00:24:50.611Z,1611793490.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 225.822119 deg, deltaT: 4.369983 s, approachRate: -41.739281 m/s, LOS rate: -12.745820 deg/s, posRepo size: 4
2021-01-28T00:24:50.632Z,1611793490.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.745820 deg/s. Setting heading cmd to target bearing of 225.822119deg and heading rate command to 0 deg/s.
2021-01-28T00:24:52.984Z,1611793492.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:53.782Z,1611793493.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:54.188Z,1611793494.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:55.021Z,1611793495.021 [Micromodem](INFO): Nmea in: $SNTTA,0.117164,,,,002455.52*45

2021-01-28T00:24:55.043Z,1611793495.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 271.182033 deg, deltaT: 4.506039 s, approachRate: 0.000000 m/s, LOS rate: 10.066472 deg/s, posRepo size: 4
2021-01-28T00:24:55.046Z,1611793495.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.440018 m,
      bearing: 271.182033 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.066472 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 225.822119 deg,
      new cmd heading: 225.822119 deg.

2021-01-28T00:24:57.481Z,1611793497.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:24:58.242Z,1611793498.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:24:58.636Z,1611793498.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:24:59.450Z,1611793499.450 [Micromodem](INFO): Nmea in: $SNTTA,0.119624,,,,002459.98*42

2021-01-28T00:24:59.870Z,1611793499.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.580002 m, bearing: 279.078470 deg, deltaT: 4.866905 s, approachRate: 1.467048 m/s, LOS rate: 1.622476 deg/s, posRepo size: 4
2021-01-28T00:24:59.873Z,1611793499.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.580002 m,
      bearing: 279.078470 deg,
      approachRate: 1.467048 m/s,
      LOS rate: 1.622476 deg/s,
      cmd update: 6.489904 deg/s,
      cmd heading: 284.611548 deg,
      new cmd heading: 288.674592 deg.

2021-01-28T00:25:02.291Z,1611793502.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:03.066Z,1611793503.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:03.480Z,1611793503.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:04.318Z,1611793504.318 [Micromodem](INFO): Nmea in: $SNTTA,0.121969,,,,002504.81*4E

2021-01-28T00:25:04.725Z,1611793504.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.180008 m, bearing: 286.330792 deg, deltaT: 4.848400 s, approachRate: 0.742514 m/s, LOS rate: 1.495818 deg/s, posRepo size: 4
2021-01-28T00:25:04.727Z,1611793504.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.180008 m,
      bearing: 286.330792 deg,
      approachRate: 0.742514 m/s,
      LOS rate: 1.495818 deg/s,
      cmd update: 5.983270 deg/s,
      cmd heading: 316.145836 deg,
      new cmd heading: 318.310121 deg.

2021-01-28T00:25:07.118Z,1611793507.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:07.911Z,1611793507.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:08.345Z,1611793508.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:09.166Z,1611793509.166 [Micromodem](INFO): Nmea in: $SNTTA,0.124554,,,,002509.65*4E

2021-01-28T00:25:09.223Z,1611793509.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.139984 m, bearing: 263.387585 deg, deltaT: 4.397564 s, approachRate: 0.900493 m/s, LOS rate: -5.217254 deg/s, posRepo size: 4
2021-01-28T00:25:09.233Z,1611793509.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.139984 m,
      bearing: 263.387585 deg,
      approachRate: 0.900493 m/s,
      LOS rate: -5.217254 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 342.353925 deg,
      new cmd heading: 345.057436 deg.

2021-01-28T00:25:11.611Z,1611793511.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:12.402Z,1611793512.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:12.780Z,1611793512.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:13.605Z,1611793513.605 [Micromodem](INFO): Nmea in: $SNTTA,0.126794,,,,002514.15*49

2021-01-28T00:25:14.025Z,1611793514.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.319992 m, bearing: 268.670901 deg, deltaT: 4.874579 s, approachRate: 0.652366 m/s, LOS rate: 1.083851 deg/s, posRepo size: 4
2021-01-28T00:25:14.026Z,1611793514.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.319992 m,
      bearing: 268.670901 deg,
      approachRate: 0.652366 m/s,
      LOS rate: 1.083851 deg/s,
      cmd update: 4.335402 deg/s,
      cmd heading: 283.653247 deg,
      new cmd heading: 279.316663 deg.

2021-01-28T00:25:16.484Z,1611793516.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:17.246Z,1611793517.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:17.632Z,1611793517.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:18.459Z,1611793518.459 [Micromodem](INFO): Nmea in: $SNTTA,0.129143,,,,002518.99*42

2021-01-28T00:25:18.876Z,1611793518.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.679993 m, bearing: 299.888990 deg, deltaT: 4.842882 s, approachRate: 0.693802 m/s, LOS rate: 6.446180 deg/s, posRepo size: 4
2021-01-28T00:25:18.878Z,1611793518.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.679993 m,
      bearing: 299.888990 deg,
      approachRate: 0.693802 m/s,
      LOS rate: 6.446180 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 304.649983 deg,
      new cmd heading: 306.252356 deg.

2021-01-28T00:25:21.300Z,1611793521.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:22.066Z,1611793522.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:22.487Z,1611793522.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:23.322Z,1611793523.322 [Micromodem](INFO): Nmea in: $SNTTA,0.131803,,,,002523.81*47

2021-01-28T00:25:23.391Z,1611793523.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.679993 m, bearing: 351.213901 deg, deltaT: 4.419282 s, approachRate: 0.000000 m/s, LOS rate: 11.613857 deg/s, posRepo size: 4
2021-01-28T00:25:23.396Z,1611793523.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.613857 deg/s. Setting heading cmd to target bearing of 351.213901deg and heading rate command to 0 deg/s.
2021-01-28T00:25:25.747Z,1611793525.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:26.514Z,1611793526.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:26.927Z,1611793526.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:27.744Z,1611793527.744 [Micromodem](INFO): Nmea in: $SNTTA,0.133501,,,,002528.26*4C

2021-01-28T00:25:28.213Z,1611793528.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.399994 m, bearing: 11.190121 deg, deltaT: 4.868238 s, approachRate: 1.380376 m/s, LOS rate: 4.103377 deg/s, posRepo size: 4
2021-01-28T00:25:28.219Z,1611793528.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.399994 m,
      bearing: 11.190121 deg,
      approachRate: 1.380376 m/s,
      LOS rate: 4.103377 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.213901 deg,
      new cmd heading: 351.213901 deg.

2021-01-28T00:25:30.598Z,1611793530.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:31.374Z,1611793531.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:31.761Z,1611793531.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:32.584Z,1611793532.584 [Micromodem](INFO): Nmea in: $SNTTA,0.134631,,,,002533.12*46

2021-01-28T00:25:33.019Z,1611793533.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.019989 m, bearing: 46.635681 deg, deltaT: 4.853755 s, approachRate: 0.333761 m/s, LOS rate: 7.302709 deg/s, posRepo size: 4
2021-01-28T00:25:33.022Z,1611793533.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.019989 m,
      bearing: 46.635681 deg,
      approachRate: 0.333761 m/s,
      LOS rate: 7.302709 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 49.410674 deg,
      new cmd heading: 53.926850 deg.

2021-01-28T00:25:35.459Z,1611793535.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:36.221Z,1611793536.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:36.618Z,1611793536.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:37.449Z,1611793537.449 [Micromodem](INFO): Nmea in: $SNTTA,0.135258,,,,002537.96*44

2021-01-28T00:25:37.870Z,1611793537.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.859985 m, bearing: 328.162804 deg, deltaT: 4.836846 s, approachRate: 0.173666 m/s, LOS rate: -16.223977 deg/s, posRepo size: 4
2021-01-28T00:25:37.871Z,1611793537.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.223977 deg/s. Setting heading cmd to target bearing of 328.162804deg and heading rate command to 0 deg/s.
2021-01-28T00:25:40.297Z,1611793540.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:41.066Z,1611793541.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:41.464Z,1611793541.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:42.296Z,1611793542.296 [Micromodem](INFO): Nmea in: $SNTTA,0.135139,,,,002542.81*44

2021-01-28T00:25:42.717Z,1611793542.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.679977 m, bearing: 58.079926 deg, deltaT: 4.892497 s, approachRate: -0.036793 m/s, LOS rate: 18.378572 deg/s, posRepo size: 4
2021-01-28T00:25:42.718Z,1611793542.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.378572 deg/s. Setting heading cmd to target bearing of 58.079926deg and heading rate command to 0 deg/s.
2021-01-28T00:25:45.129Z,1611793545.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:45.907Z,1611793545.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:46.337Z,1611793546.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:47.136Z,1611793547.136 [Micromodem](INFO): Nmea in: $SNTTA,0.134616,,,,002547.65*40

2021-01-28T00:25:47.586Z,1611793547.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.720001 m, bearing: 101.038517 deg, deltaT: 4.845938 s, approachRate: -0.198099 m/s, LOS rate: 8.864866 deg/s, posRepo size: 4
2021-01-28T00:25:47.592Z,1611793547.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.720001 m,
      bearing: 101.038517 deg,
      approachRate: -0.198099 m/s,
      LOS rate: 8.864866 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 58.079926 deg,
      new cmd heading: 58.079926 deg.

2021-01-28T00:25:49.970Z,1611793549.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:50.766Z,1611793550.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:51.159Z,1611793551.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:52.006Z,1611793552.006 [Micromodem](INFO): Nmea in: $SNTTA,0.133435,,,,002552.51*47

2021-01-28T00:25:52.430Z,1611793552.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.039993 m, bearing: 93.723596 deg, deltaT: 4.801516 s, approachRate: -0.349891 m/s, LOS rate: -1.523461 deg/s, posRepo size: 4
2021-01-28T00:25:52.432Z,1611793552.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.039993 m,
      bearing: 93.723596 deg,
      approachRate: -0.349891 m/s,
      LOS rate: -1.523461 deg/s,
      cmd update: -6.093843 deg/s,
      cmd heading: 115.944180 deg,
      new cmd heading: 120.817836 deg.

2021-01-28T00:25:54.838Z,1611793554.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:25:55.599Z,1611793555.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:25:56.014Z,1611793556.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:25:56.844Z,1611793556.844 [Micromodem](INFO): Nmea in: $SNTTA,0.131883,,,,002557.34*42

2021-01-28T00:25:57.288Z,1611793557.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.639999 m, bearing: 92.669336 deg, deltaT: 4.852904 s, approachRate: -0.494548 m/s, LOS rate: -0.217243 deg/s, posRepo size: 4
2021-01-28T00:25:57.290Z,1611793557.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.639999 m,
      bearing: 92.669336 deg,
      approachRate: -0.494548 m/s,
      LOS rate: -0.217243 deg/s,
      cmd update: -0.868973 deg/s,
      cmd heading: 86.373564 deg,
      new cmd heading: 83.891018 deg.

2021-01-28T00:25:59.663Z,1611793559.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:00.451Z,1611793560.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:00.852Z,1611793560.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:01.692Z,1611793561.692 [Micromodem](INFO): Nmea in: $SNTTA,0.129893,,,,002602.19*46

2021-01-28T00:26:02.116Z,1611793562.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.879990 m, bearing: 90.079492 deg, deltaT: 4.840146 s, approachRate: -0.570233 m/s, LOS rate: -0.535076 deg/s, posRepo size: 4
2021-01-28T00:26:02.118Z,1611793562.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.879990 m,
      bearing: 90.079492 deg,
      approachRate: -0.570233 m/s,
      LOS rate: -0.535076 deg/s,
      cmd update: -2.140302 deg/s,
      cmd heading: 82.167460 deg,
      new cmd heading: 81.820557 deg.

2021-01-28T00:26:04.521Z,1611793564.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:05.306Z,1611793565.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:05.708Z,1611793565.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:06.539Z,1611793566.539 [Micromodem](INFO): Nmea in: $SNTTA,0.127763,,,,002607.05*40

2021-01-28T00:26:06.961Z,1611793566.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.639984 m, bearing: 87.474520 deg, deltaT: 4.856604 s, approachRate: -0.667134 m/s, LOS rate: -0.536377 deg/s, posRepo size: 4
2021-01-28T00:26:06.963Z,1611793566.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.639984 m,
      bearing: 87.474520 deg,
      approachRate: -0.667134 m/s,
      LOS rate: -0.536377 deg/s,
      cmd update: -2.145510 deg/s,
      cmd heading: 71.772417 deg,
      new cmd heading: 70.942861 deg.

2021-01-28T00:26:09.417Z,1611793569.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:10.142Z,1611793570.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:10.555Z,1611793570.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:11.388Z,1611793571.388 [Micromodem](INFO): Nmea in: $SNTTA,0.125855,,,,002611.88*4A

2021-01-28T00:26:11.798Z,1611793571.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.639984 m, bearing: 87.818413 deg, deltaT: 4.887593 s, approachRate: -0.613799 m/s, LOS rate: 0.070360 deg/s, posRepo size: 4
2021-01-28T00:26:11.801Z,1611793571.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.639984 m,
      bearing: 87.818413 deg,
      approachRate: -0.613799 m/s,
      LOS rate: 0.070360 deg/s,
      cmd update: 0.281442 deg/s,
      cmd heading: 61.294648 deg,
      new cmd heading: 60.562763 deg.

2021-01-28T00:26:14.241Z,1611793574.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:14.992Z,1611793574.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:15.416Z,1611793575.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:16.244Z,1611793576.244 [Micromodem](INFO): Nmea in: $SNTTA,0.124430,,,,002616.73*47

2021-01-28T00:26:16.653Z,1611793576.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.540009 m, bearing: 88.476973 deg, deltaT: 4.833008 s, approachRate: -0.434507 m/s, LOS rate: 0.136263 deg/s, posRepo size: 4
2021-01-28T00:26:16.655Z,1611793576.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.540009 m,
      bearing: 88.476973 deg,
      approachRate: -0.434507 m/s,
      LOS rate: 0.136263 deg/s,
      cmd update: 0.545052 deg/s,
      cmd heading: 62.654859 deg,
      new cmd heading: 62.756883 deg.

2021-01-28T00:26:19.078Z,1611793579.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:19.850Z,1611793579.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:20.269Z,1611793580.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:21.080Z,1611793581.080 [Micromodem](INFO): Nmea in: $SNTTA,0.122597,,0.129384,,002621.59*5A

2021-01-28T00:26:21.504Z,1611793581.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 89.880235 deg, deltaT: 4.860569 s, approachRate: -0.580180 m/s, LOS rate: 0.288703 deg/s, posRepo size: 4
2021-01-28T00:26:21.506Z,1611793581.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.720001 m,
      bearing: 89.880235 deg,
      approachRate: -0.580180 m/s,
      LOS rate: 0.288703 deg/s,
      cmd update: 1.154813 deg/s,
      cmd heading: 65.300433 deg,
      new cmd heading: 65.496658 deg.

2021-01-28T00:26:23.898Z,1611793583.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:24.695Z,1611793584.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:25.156Z,1611793585.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:25.961Z,1611793585.961 [Micromodem](INFO): Nmea in: $SNTTA,0.120949,,,,002626.44*47

2021-01-28T00:26:26.020Z,1611793586.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.139999 m, bearing: 92.587620 deg, deltaT: 4.436855 s, approachRate: -0.581493 m/s, LOS rate: 0.610203 deg/s, posRepo size: 4
2021-01-28T00:26:26.022Z,1611793586.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.139999 m,
      bearing: 92.587620 deg,
      approachRate: -0.581493 m/s,
      LOS rate: 0.610203 deg/s,
      cmd update: 2.440814 deg/s,
      cmd heading: 70.436379 deg,
      new cmd heading: 70.925711 deg.

2021-01-28T00:26:28.434Z,1611793588.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:29.175Z,1611793589.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:29.580Z,1611793589.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:30.412Z,1611793590.412 [Micromodem](INFO): Nmea in: $SNTTA,0.119334,,,,002630.92*41

2021-01-28T00:26:30.831Z,1611793590.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.619995 m, bearing: 94.198984 deg, deltaT: 4.889446 s, approachRate: -0.515397 m/s, LOS rate: 0.329560 deg/s, posRepo size: 4
2021-01-28T00:26:30.833Z,1611793590.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.619995 m,
      bearing: 94.198984 deg,
      approachRate: -0.515397 m/s,
      LOS rate: 0.329560 deg/s,
      cmd update: 1.318239 deg/s,
      cmd heading: 82.364861 deg,
      new cmd heading: 83.225541 deg.

2021-01-28T00:26:33.276Z,1611793593.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:34.030Z,1611793594.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:34.424Z,1611793594.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:35.268Z,1611793595.268 [Micromodem](INFO): Nmea in: $SNTTA,0.117319,,,,002635.77*4E

2021-01-28T00:26:35.678Z,1611793595.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 94.982448 deg, deltaT: 4.886894 s, approachRate: -0.589329 m/s, LOS rate: 0.160319 deg/s, posRepo size: 4
2021-01-28T00:26:35.680Z,1611793595.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 94.982448 deg,
      approachRate: -0.589329 m/s,
      LOS rate: 0.160319 deg/s,
      cmd update: 0.641277 deg/s,
      cmd heading: 88.805984 deg,
      new cmd heading: 89.218773 deg.

2021-01-28T00:26:38.090Z,1611793598.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:38.870Z,1611793598.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:39.277Z,1611793599.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:40.105Z,1611793600.105 [Micromodem](INFO): Nmea in: $SNTTA,0.115343,,,,002640.61*46

2021-01-28T00:26:40.154Z,1611793600.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 93.365920 deg, deltaT: 4.422161 s, approachRate: 0.000000 m/s, LOS rate: -0.365552 deg/s, posRepo size: 4
2021-01-28T00:26:40.160Z,1611793600.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 93.365920 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.365552 deg/s,
      cmd update: -1.462207 deg/s,
      cmd heading: 91.643917 deg,
      new cmd heading: 91.877464 deg.

2021-01-28T00:26:42.565Z,1611793602.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:43.311Z,1611793603.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:43.727Z,1611793603.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:44.565Z,1611793604.565 [Micromodem](INFO): Nmea in: $SNTTA,0.113345,,,,002645.05*41

2021-01-28T00:26:44.599Z,1611793604.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 92.588781 deg, deltaT: 4.385524 s, approachRate: 0.000000 m/s, LOS rate: -0.177205 deg/s, posRepo size: 4
2021-01-28T00:26:44.628Z,1611793604.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 92.588781 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.177205 deg/s,
      cmd update: -0.708822 deg/s,
      cmd heading: 85.247154 deg,
      new cmd heading: 84.612752 deg.

2021-01-28T00:26:46.978Z,1611793606.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:47.758Z,1611793607.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:48.153Z,1611793608.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:49.017Z,1611793609.017 [Micromodem](INFO): Nmea in: $SNTTA,0.111440,,,,002649.50*4D

2021-01-28T00:26:49.039Z,1611793609.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.919998 m, bearing: 92.818637 deg, deltaT: 4.444965 s, approachRate: -1.984269 m/s, LOS rate: 0.051712 deg/s, posRepo size: 4
2021-01-28T00:26:49.065Z,1611793609.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.919998 m,
      bearing: 92.818637 deg,
      approachRate: -1.984269 m/s,
      LOS rate: 0.051712 deg/s,
      cmd update: 0.206846 deg/s,
      cmd heading: 82.088851 deg,
      new cmd heading: 81.792181 deg.

2021-01-28T00:26:51.025Z,1611793611.025 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-28T00:26:51.026Z,1611793611.026 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-28T00:26:51.026Z,1611793611.026 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-28T00:26:51.026Z,1611793611.026 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T00:26:51.026Z,1611793611.026 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-28T00:26:51.494Z,1611793611.494 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160300000005D000004003E0000000000000000151D80030C5669BF527B605F7A2C569C7F9347CD59656306BBFFB18EAABC9DE188029A3ED3DEB7E95FF4
2021-01-28T00:26:51.495Z,1611793611.495 [Micromodem](INFO): Outgoing frame #2, 17 bytes: A3789CF7D113F7666946FFC49987ACA000
2021-01-28T00:26:51.495Z,1611793611.495 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T00:26:51.594Z,1611793611.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:51.805Z,1611793611.805 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T00:26:52.226Z,1611793612.226 [Micromodem](INFO): Nmea in: $CADRQ,002653,1,10,0,64,1*74

2021-01-28T00:26:52.227Z,1611793612.227 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160300000005D000004003E0000000000000000151D80030C5669BF527B605F7A2C569C7F9347CD59656306BBFFB18EAABC9DE188029A3ED3DEB7E95FF4*42

2021-01-28T00:26:52.611Z,1611793612.611 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:26:52.611Z,1611793612.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:53.018Z,1611793613.018 [Micromodem](INFO): Nmea in: $CADRQ,002653,1,10,0,64,2*77

2021-01-28T00:26:53.019Z,1611793613.019 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,002653,1,10,0,64,2*77

2021-01-28T00:26:53.423Z,1611793613.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:53.845Z,1611793613.845 [Micromodem](INFO): Nmea in: $SNTTA,0.109436,,,,002654.35*4A

2021-01-28T00:26:53.882Z,1611793613.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.860001 m, bearing: 94.171001 deg, deltaT: 4.883970 s, approachRate: -0.626539 m/s, LOS rate: 0.276898 deg/s, posRepo size: 4
2021-01-28T00:26:53.885Z,1611793613.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.860001 m,
      bearing: 94.171001 deg,
      approachRate: -0.626539 m/s,
      LOS rate: 0.276898 deg/s,
      cmd update: 1.107594 deg/s,
      cmd heading: 83.095680 deg,
      new cmd heading: 83.177235 deg.

2021-01-28T00:26:55.453Z,1611793615.453 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:26:56.307Z,1611793616.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:26:57.065Z,1611793617.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:26:57.456Z,1611793617.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:26:58.332Z,1611793618.332 [Micromodem](INFO): Nmea in: $SNTTA,0.107635,,,,002658.81*46

2021-01-28T00:26:58.412Z,1611793618.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.860001 m, bearing: 93.464090 deg, deltaT: 4.389406 s, approachRate: 0.000000 m/s, LOS rate: -0.161049 deg/s, posRepo size: 4
2021-01-28T00:26:58.414Z,1611793618.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.860001 m,
      bearing: 93.464090 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.161049 deg/s,
      cmd update: -0.644197 deg/s,
      cmd heading: 87.974767 deg,
      new cmd heading: 88.549133 deg.

2021-01-28T00:27:00.753Z,1611793620.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:01.506Z,1611793621.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:01.905Z,1611793621.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:02.729Z,1611793622.729 [Micromodem](INFO): Nmea in: $SNTTA,0.105737,,,,002703.25*46

2021-01-28T00:27:02.754Z,1611793622.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.279999 m, bearing: 93.111133 deg, deltaT: 4.497361 s, approachRate: -1.240728 m/s, LOS rate: -0.078481 deg/s, posRepo size: 4
2021-01-28T00:27:02.756Z,1611793622.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.279999 m,
      bearing: 93.111133 deg,
      approachRate: -1.240728 m/s,
      LOS rate: -0.078481 deg/s,
      cmd update: -0.313924 deg/s,
      cmd heading: 85.080014 deg,
      new cmd heading: 84.843441 deg.

2021-01-28T00:27:05.230Z,1611793625.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:05.934Z,1611793625.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:06.366Z,1611793626.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:07.192Z,1611793627.192 [Micromodem](INFO): Nmea in: $SNTTA,0.103819,,,,002707.68*4E

2021-01-28T00:27:07.256Z,1611793627.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.520004 m, bearing: 94.089216 deg, deltaT: 4.392504 s, approachRate: -0.628342 m/s, LOS rate: 0.222671 deg/s, posRepo size: 4
2021-01-28T00:27:07.258Z,1611793627.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.520004 m,
      bearing: 94.089216 deg,
      approachRate: -0.628342 m/s,
      LOS rate: 0.222671 deg/s,
      cmd update: 0.890684 deg/s,
      cmd heading: 83.699730 deg,
      new cmd heading: 83.551593 deg.

2021-01-28T00:27:09.610Z,1611793629.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:10.410Z,1611793630.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:10.905Z,1611793630.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:11.717Z,1611793631.717 [Micromodem](INFO): Nmea in: $SNTTA,0.101858,,,,002712.15*47

2021-01-28T00:27:11.794Z,1611793631.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.580002 m, bearing: 94.066294 deg, deltaT: 4.621882 s, approachRate: -0.636105 m/s, LOS rate: -0.004959 deg/s, posRepo size: 4
2021-01-28T00:27:11.796Z,1611793631.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.580002 m,
      bearing: 94.066294 deg,
      approachRate: -0.636105 m/s,
      LOS rate: -0.004959 deg/s,
      cmd update: -0.019838 deg/s,
      cmd heading: 87.812965 deg,
      new cmd heading: 88.162234 deg.

2021-01-28T00:27:14.224Z,1611793634.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:14.938Z,1611793634.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:15.377Z,1611793635.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:16.220Z,1611793636.220 [Micromodem](INFO): Nmea in: $SNTTA,0.099967,,,,002716.68*44

2021-01-28T00:27:16.265Z,1611793636.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 94.822656 deg, deltaT: 4.388148 s, approachRate: -0.656314 m/s, LOS rate: 0.172365 deg/s, posRepo size: 4
2021-01-28T00:27:16.269Z,1611793636.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.699997 m,
      bearing: 94.822656 deg,
      approachRate: -0.656314 m/s,
      LOS rate: 0.172365 deg/s,
      cmd update: 0.689459 deg/s,
      cmd heading: 87.725916 deg,
      new cmd heading: 87.716495 deg.

2021-01-28T00:27:18.638Z,1611793638.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:19.422Z,1611793639.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:19.806Z,1611793639.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:20.619Z,1611793640.619 [Micromodem](INFO): Nmea in: $SNTTA,0.098016,,,,002721.16*47

2021-01-28T00:27:20.671Z,1611793640.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.119995 m, bearing: 94.365252 deg, deltaT: 4.475214 s, approachRate: -0.576509 m/s, LOS rate: -0.102208 deg/s, posRepo size: 4
2021-01-28T00:27:20.677Z,1611793640.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.119995 m,
      bearing: 94.365252 deg,
      approachRate: -0.576509 m/s,
      LOS rate: -0.102208 deg/s,
      cmd update: -0.408833 deg/s,
      cmd heading: 90.814037 deg,
      new cmd heading: 91.091204 deg.

2021-01-28T00:27:22.627Z,1611793642.627 [Micromodem](INFO): Nmea in: $CAERR,002723,DATA_TIMEOUT,2*49

2021-01-28T00:27:23.022Z,1611793643.022 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-01-28T00:27:23.065Z,1611793643.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:23.822Z,1611793643.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:24.270Z,1611793644.270 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-01-28T00:27:24.270Z,1611793644.270 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-01-28T00:27:24.643Z,1611793644.643 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,002724.010254,3,0,200,4000,14500,1,1,10,1,2,1,3,64*49

2021-01-28T00:27:24.643Z,1611793644.643 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,002724.010254,3,0,200,4000,14500,1,1,10,1,2,1,3,64*49

2021-01-28T00:27:25.567Z,1611793645.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:26.297Z,1611793646.297 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T00:27:26.657Z,1611793646.657 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128002726.979812,06,1768,32,0104,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,16.6,6.00,16,-3.00,-01,1.32,27,14500,4000*50

2021-01-28T00:27:26.658Z,1611793646.658 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128002726.979812,06,1768,32,0104,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,16.6,6.00,16,-3.00,-01,1.32,27,14500,4000*50

2021-01-28T00:27:28.373Z,1611793648.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:31.162Z,1611793651.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:31.521Z,1611793651.521 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:27:33.955Z,1611793653.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:35.142Z,1611793655.142 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:35.559Z,1611793655.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:36.414Z,1611793656.414 [Micromodem](INFO): Nmea in: $SNTTA,0.091291,,,,002736.88*42

2021-01-28T00:27:36.567Z,1611793656.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.919998 m, bearing: 93.993081 deg, deltaT: 15.740308 s, approachRate: -0.648018 m/s, LOS rate: -0.023644 deg/s, posRepo size: 4
2021-01-28T00:27:36.569Z,1611793656.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.919998 m,
      bearing: 93.993081 deg,
      approachRate: -0.648018 m/s,
      LOS rate: -0.023644 deg/s,
      cmd update: -0.094578 deg/s,
      cmd heading: 84.379797 deg,
      new cmd heading: 84.150889 deg.

2021-01-28T00:27:38.551Z,1611793658.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:39.180Z,1611793659.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:39.586Z,1611793659.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:40.478Z,1611793660.478 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:27:40.801Z,1611793660.801 [Micromodem](INFO): Nmea in: $SNTTA,0.089551,,,,002741.01*41

2021-01-28T00:27:40.844Z,1611793660.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.279999 m, bearing: 95.385026 deg, deltaT: 4.501245 s, approachRate: -0.586504 m/s, LOS rate: 0.309236 deg/s, posRepo size: 4
2021-01-28T00:27:40.846Z,1611793660.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.279999 m,
      bearing: 95.385026 deg,
      approachRate: -0.586504 m/s,
      LOS rate: 0.309236 deg/s,
      cmd update: 1.236942 deg/s,
      cmd heading: 83.954224 deg,
      new cmd heading: 83.922305 deg.

2021-01-28T00:27:43.257Z,1611793663.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:44.034Z,1611793664.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:44.436Z,1611793664.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:45.281Z,1611793665.281 [Micromodem](INFO): Nmea in: $SNTTA,0.087671,,,,002745.78*44

2021-01-28T00:27:45.345Z,1611793665.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.339996 m, bearing: 95.231818 deg, deltaT: 4.502861 s, approachRate: -0.652919 m/s, LOS rate: -0.034025 deg/s, posRepo size: 4
2021-01-28T00:27:45.360Z,1611793665.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.339996 m,
      bearing: 95.231818 deg,
      approachRate: -0.652919 m/s,
      LOS rate: -0.034025 deg/s,
      cmd update: -0.136098 deg/s,
      cmd heading: 89.526442 deg,
      new cmd heading: 89.924133 deg.

2021-01-28T00:27:47.713Z,1611793667.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:48.494Z,1611793668.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:48.880Z,1611793668.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:49.710Z,1611793669.710 [Micromodem](INFO): Nmea in: $SNTTA,0.085913,,,,002750.24*40

2021-01-28T00:27:49.749Z,1611793669.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.640015 m, bearing: 95.669449 deg, deltaT: 4.463556 s, approachRate: -0.604895 m/s, LOS rate: 0.098045 deg/s, posRepo size: 4
2021-01-28T00:27:49.750Z,1611793669.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.640015 m,
      bearing: 95.669449 deg,
      approachRate: -0.604895 m/s,
      LOS rate: 0.098045 deg/s,
      cmd update: 0.392181 deg/s,
      cmd heading: 88.920868 deg,
      new cmd heading: 88.881760 deg.

2021-01-28T00:27:52.126Z,1611793672.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:52.922Z,1611793672.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:53.324Z,1611793673.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:54.168Z,1611793674.168 [Micromodem](INFO): Nmea in: $SNTTA,0.084021,,,,002754.67*4A

2021-01-28T00:27:54.242Z,1611793674.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.880005 m, bearing: 95.578935 deg, deltaT: 4.274282 s, approachRate: -0.645725 m/s, LOS rate: -0.021176 deg/s, posRepo size: 4
2021-01-28T00:27:54.244Z,1611793674.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.880005 m,
      bearing: 95.578935 deg,
      approachRate: -0.645725 m/s,
      LOS rate: -0.021176 deg/s,
      cmd update: -0.084705 deg/s,
      cmd heading: 90.603407 deg,
      new cmd heading: 90.795965 deg.

2021-01-28T00:27:56.559Z,1611793676.559 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-28T00:27:56.641Z,1611793676.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:27:57.054Z,1611793677.054 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160300000005D000004003E0000000000000000151D80030C5669BF527B605F7A2C569C7F9347CD59656306BBFFB18EAABC9DE188029A3ED3DEB7E95FF4
2021-01-28T00:27:57.055Z,1611793677.055 [Micromodem](INFO): Outgoing frame #2, 17 bytes: A3789CF7D113F7666946FFC49987ACA000
2021-01-28T00:27:57.055Z,1611793677.055 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T00:27:57.376Z,1611793677.376 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T00:27:57.377Z,1611793677.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:27:57.763Z,1611793677.763 [Micromodem](INFO): Nmea in: $CADRQ,002758,1,10,0,64,1*7E

2021-01-28T00:27:57.763Z,1611793677.763 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,002758,1,10,0,64,1*7E

2021-01-28T00:27:58.179Z,1611793678.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:27:58.597Z,1611793678.597 [Micromodem](INFO): Nmea in: $SNTTA,0.082333,,,,002759.12*43

2021-01-28T00:27:58.643Z,1611793678.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.240005 m, bearing: 96.721906 deg, deltaT: 4.511381 s, approachRate: -0.585187 m/s, LOS rate: 0.253353 deg/s, posRepo size: 4
2021-01-28T00:27:58.651Z,1611793678.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.240005 m,
      bearing: 96.721906 deg,
      approachRate: -0.585187 m/s,
      LOS rate: 0.253353 deg/s,
      cmd update: 1.013411 deg/s,
      cmd heading: 90.221604 deg,
      new cmd heading: 90.189068 deg.

2021-01-28T00:28:01.037Z,1611793681.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:01.806Z,1611793681.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:02.219Z,1611793682.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:03.045Z,1611793683.045 [Micromodem](INFO): Nmea in: $SNTTA,0.080305,,,,002803.55*47

2021-01-28T00:28:03.066Z,1611793683.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.600006 m, bearing: 97.795133 deg, deltaT: 4.377006 s, approachRate: -0.603152 m/s, LOS rate: 0.245197 deg/s, posRepo size: 4
2021-01-28T00:28:03.089Z,1611793683.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.600006 m,
      bearing: 97.795133 deg,
      approachRate: -0.603152 m/s,
      LOS rate: 0.245197 deg/s,
      cmd update: 0.980787 deg/s,
      cmd heading: 94.661139 deg,
      new cmd heading: 95.093872 deg.

2021-01-28T00:28:05.513Z,1611793685.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:06.264Z,1611793686.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:06.712Z,1611793686.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:07.545Z,1611793687.545 [Micromodem](INFO): Nmea in: $SNTTA,0.078554,,,,002808.01*48

2021-01-28T00:28:07.598Z,1611793687.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.540001 m, bearing: 96.835594 deg, deltaT: 4.534751 s, approachRate: -0.674790 m/s, LOS rate: -0.211597 deg/s, posRepo size: 4
2021-01-28T00:28:07.600Z,1611793687.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.540001 m,
      bearing: 96.835594 deg,
      approachRate: -0.674790 m/s,
      LOS rate: -0.211597 deg/s,
      cmd update: -0.846387 deg/s,
      cmd heading: 99.085882 deg,
      new cmd heading: 99.524319 deg.

2021-01-28T00:28:09.000Z,1611793690.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:10.746Z,1611793690.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:11.152Z,1611793691.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:11.990Z,1611793691.990 [Micromodem](INFO): Nmea in: $SNTTA,0.076414,,,,002812.49*44

2021-01-28T00:28:12.043Z,1611793692.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.419998 m, bearing: 97.939332 deg, deltaT: 4.451334 s, approachRate: -0.700914 m/s, LOS rate: 0.247957 deg/s, posRepo size: 4
2021-01-28T00:28:12.045Z,1611793692.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.419998 m,
      bearing: 97.939332 deg,
      approachRate: -0.700914 m/s,
      LOS rate: 0.247957 deg/s,
      cmd update: 0.991827 deg/s,
      cmd heading: 95.298332 deg,
      new cmd heading: 94.945544 deg.

2021-01-28T00:28:14.453Z,1611793694.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:15.217Z,1611793695.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:15.650Z,1611793695.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:16.473Z,1611793696.473 [Micromodem](INFO): Nmea in: $SNTTA,0.074480,,,,002816.96*4D

2021-01-28T00:28:16.540Z,1611793696.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.480003 m, bearing: 97.205866 deg, deltaT: 4.442720 s, approachRate: -0.661756 m/s, LOS rate: -0.165094 deg/s, posRepo size: 4
2021-01-28T00:28:16.542Z,1611793696.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.480003 m,
      bearing: 97.205866 deg,
      approachRate: -0.661756 m/s,
      LOS rate: -0.165094 deg/s,
      cmd update: -0.660376 deg/s,
      cmd heading: 99.704846 deg,
      new cmd heading: 100.172437 deg.

2021-01-28T00:28:18.898Z,1611793698.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:19.678Z,1611793699.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:20.090Z,1611793700.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:20.919Z,1611793700.919 [Micromodem](INFO): Nmea in: $SNTTA,0.072583,,,,002821.42*44

2021-01-28T00:28:20.969Z,1611793700.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.720001 m, bearing: 98.428128 deg, deltaT: 4.486175 s, approachRate: -0.615224 m/s, LOS rate: 0.272451 deg/s, posRepo size: 4
2021-01-28T00:28:20.973Z,1611793700.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.720001 m,
      bearing: 98.428128 deg,
      approachRate: -0.615224 m/s,
      LOS rate: 0.272451 deg/s,
      cmd update: 1.089804 deg/s,
      cmd heading: 96.745077 deg,
      new cmd heading: 96.469616 deg.

2021-01-28T00:28:23.403Z,1611793703.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:24.131Z,1611793704.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:24.534Z,1611793704.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:25.385Z,1611793705.385 [Micromodem](INFO): Nmea in: $SNTTA,0.070713,,0.073719,,002825.87*55

2021-01-28T00:28:25.422Z,1611793705.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.199997 m, bearing: 97.592857 deg, deltaT: 4.439173 s, approachRate: -0.567674 m/s, LOS rate: -0.188159 deg/s, posRepo size: 4
2021-01-28T00:28:25.424Z,1611793705.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.199997 m,
      bearing: 97.592857 deg,
      approachRate: -0.567674 m/s,
      LOS rate: -0.188159 deg/s,
      cmd update: -0.752636 deg/s,
      cmd heading: 101.585016 deg,
      new cmd heading: 102.053712 deg.

2021-01-28T00:28:27.397Z,1611793707.397 [Micromodem](INFO): Nmea in: $CAERR,002828,DATA_TIMEOUT,1*4E

2021-01-28T00:28:27.800Z,1611793707.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:28.581Z,1611793708.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:28.974Z,1611793708.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:29.821Z,1611793709.821 [Micromodem](INFO): Nmea in: $SNTTA,0.068830,,,,002830.32*4D

2021-01-28T00:28:29.901Z,1611793709.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.079994 m, bearing: 97.676404 deg, deltaT: 4.492222 s, approachRate: -0.694534 m/s, LOS rate: 0.018598 deg/s, posRepo size: 4
2021-01-28T00:28:29.903Z,1611793709.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.079994 m,
      bearing: 97.676404 deg,
      approachRate: -0.694534 m/s,
      LOS rate: 0.018598 deg/s,
      cmd update: 0.074392 deg/s,
      cmd heading: 98.202322 deg,
      new cmd heading: 97.889747 deg.

2021-01-28T00:28:32.264Z,1611793712.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:33.024Z,1611793713.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:33.426Z,1611793713.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:34.273Z,1611793714.273 [Micromodem](INFO): Nmea in: $SNTTA,0.066809,,,,002834.77*4C

2021-01-28T00:28:34.349Z,1611793714.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.019997 m, bearing: 97.031122 deg, deltaT: 4.379017 s, approachRate: -0.698786 m/s, LOS rate: -0.147358 deg/s, posRepo size: 4
2021-01-28T00:28:34.372Z,1611793714.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.019997 m,
      bearing: 97.031122 deg,
      approachRate: -0.698786 m/s,
      LOS rate: -0.147358 deg/s,
      cmd update: -0.589431 deg/s,
      cmd heading: 98.527467 deg,
      new cmd heading: 98.563818 deg.

2021-01-28T00:28:36.388Z,1611793716.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:37.055Z,1611793717.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:37.464Z,1611793717.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:38.317Z,1611793718.317 [Micromodem](INFO): Nmea in: $SNTTA,0.065112,,0.067910,,002838.80*5F

2021-01-28T00:28:38.386Z,1611793718.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.440002 m, bearing: 97.059474 deg, deltaT: 4.087795 s, approachRate: -0.631146 m/s, LOS rate: 0.006936 deg/s, posRepo size: 4
2021-01-28T00:28:38.392Z,1611793718.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.440002 m,
      bearing: 97.059474 deg,
      approachRate: -0.631146 m/s,
      LOS rate: 0.006936 deg/s,
      cmd update: 0.027743 deg/s,
      cmd heading: 96.125897 deg,
      new cmd heading: 95.857851 deg.

2021-01-28T00:28:40.738Z,1611793720.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:41.506Z,1611793721.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:41.900Z,1611793721.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:42.762Z,1611793722.762 [Micromodem](INFO): Nmea in: $SNTTA,0.063223,,,,002843.25*4C

2021-01-28T00:28:42.822Z,1611793722.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.680000 m, bearing: 96.932774 deg, deltaT: 4.436761 s, approachRate: -0.622076 m/s, LOS rate: -0.028557 deg/s, posRepo size: 4
2021-01-28T00:28:42.825Z,1611793722.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.680000 m,
      bearing: 96.932774 deg,
      approachRate: -0.622076 m/s,
      LOS rate: -0.028557 deg/s,
      cmd update: -0.114227 deg/s,
      cmd heading: 96.249591 deg,
      new cmd heading: 96.261596 deg.

2021-01-28T00:28:45.156Z,1611793725.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:45.938Z,1611793725.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:46.377Z,1611793726.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:47.207Z,1611793727.207 [Micromodem](INFO): Nmea in: $SNTTA,0.061550,,,,002847.68*40

2021-01-28T00:28:47.267Z,1611793727.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.739998 m, bearing: 97.226855 deg, deltaT: 4.391525 s, approachRate: -0.669472 m/s, LOS rate: 0.066965 deg/s, posRepo size: 4
2021-01-28T00:28:47.269Z,1611793727.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 97.226855 deg,
      approachRate: -0.669472 m/s,
      LOS rate: 0.066965 deg/s,
      cmd update: 0.267862 deg/s,
      cmd heading: 95.749774 deg,
      new cmd heading: 95.692448 deg.

2021-01-28T00:28:49.747Z,1611793729.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:50.414Z,1611793730.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:50.785Z,1611793730.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:51.629Z,1611793731.629 [Micromodem](INFO): Nmea in: $SNTTA,0.059345,,,,002852.16*44

2021-01-28T00:28:51.677Z,1611793731.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.860001 m, bearing: 97.664984 deg, deltaT: 4.474904 s, approachRate: -0.643589 m/s, LOS rate: 0.097908 deg/s, posRepo size: 4
2021-01-28T00:28:51.679Z,1611793731.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.860001 m,
      bearing: 97.664984 deg,
      approachRate: -0.643589 m/s,
      LOS rate: 0.097908 deg/s,
      cmd update: 0.391632 deg/s,
      cmd heading: 96.952540 deg,
      new cmd heading: 97.059544 deg.

2021-01-28T00:28:54.275Z,1611793734.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:54.849Z,1611793734.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:55.272Z,1611793735.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:28:56.105Z,1611793736.105 [Micromodem](INFO): Nmea in: $SNTTA,0.057718,,,,002856.59*49

2021-01-28T00:28:56.248Z,1611793736.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.979996 m, bearing: 97.194084 deg, deltaT: 4.460999 s, approachRate: -0.645596 m/s, LOS rate: -0.105559 deg/s, posRepo size: 4
2021-01-28T00:28:56.250Z,1611793736.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.979996 m,
      bearing: 97.194084 deg,
      approachRate: -0.645596 m/s,
      LOS rate: -0.105559 deg/s,
      cmd update: -0.422238 deg/s,
      cmd heading: 98.693277 deg,
      new cmd heading: 98.907567 deg.

2021-01-28T00:28:58.525Z,1611793738.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:28:59.294Z,1611793739.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:28:59.692Z,1611793739.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:00.537Z,1611793740.537 [Micromodem](INFO): Nmea in: $SNTTA,0.055579,,0.067934,,002901.04*54

2021-01-28T00:29:00.667Z,1611793740.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 98.697784 deg, deltaT: 4.458485 s, approachRate: -0.551757 m/s, LOS rate: 0.337267 deg/s, posRepo size: 4
2021-01-28T00:29:00.670Z,1611793740.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.519997 m,
      bearing: 98.697784 deg,
      approachRate: -0.551757 m/s,
      LOS rate: 0.337267 deg/s,
      cmd update: 1.349068 deg/s,
      cmd heading: 96.808723 deg,
      new cmd heading: 96.596040 deg.

2021-01-28T00:29:02.126Z,1611793742.126 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-28T00:29:02.612Z,1611793742.612 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160300000005D000004003E0000000000000000151D80030C5669BF527B605F7A2C569C7F9347CD59656306BBFFB18EAABC9DE188029A3ED3DEB7E95FF4
2021-01-28T00:29:02.612Z,1611793742.612 [Micromodem](INFO): Outgoing frame #2, 17 bytes: A3789CF7D113F7666946FFC49987ACA000
2021-01-28T00:29:02.613Z,1611793742.613 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T00:29:02.779Z,1611793742.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:02.928Z,1611793742.928 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T00:29:03.346Z,1611793743.346 [Micromodem](INFO): Nmea in: $CADRQ,002904,1,10,0,64,1*79

2021-01-28T00:29:03.357Z,1611793743.357 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160300000005D000004003E0000000000000000151D80030C5669BF527B605F7A2C569C7F9347CD59656306BBFFB18EAABC9DE188029A3ED3DEB7E95FF4*42

2021-01-28T00:29:03.730Z,1611793743.730 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:29:03.730Z,1611793743.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:04.134Z,1611793744.134 [Micromodem](INFO): Nmea in: $CADRQ,002905,1,10,0,64,2*7B

2021-01-28T00:29:04.135Z,1611793744.135 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,002905,1,10,0,64,2*7B

2021-01-28T00:29:04.546Z,1611793744.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:04.993Z,1611793744.993 [Micromodem](INFO): Nmea in: $SNTTA,0.053692,,,,002905.47*46

2021-01-28T00:29:05.015Z,1611793745.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 96.105884 deg, deltaT: 4.451453 s, approachRate: -0.700895 m/s, LOS rate: -0.582259 deg/s, posRepo size: 4
2021-01-28T00:29:05.018Z,1611793745.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.399994 m,
      bearing: 96.105884 deg,
      approachRate: -0.700895 m/s,
      LOS rate: -0.582259 deg/s,
      cmd update: -2.329037 deg/s,
      cmd heading: 102.808586 deg,
      new cmd heading: 103.353212 deg.

2021-01-28T00:29:07.430Z,1611793747.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:08.190Z,1611793748.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:08.584Z,1611793748.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:09.439Z,1611793749.439 [Micromodem](INFO): Nmea in: $SNTTA,0.051707,,0.080765,,002909.93*5E

2021-01-28T00:29:09.473Z,1611793749.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 97.348924 deg, deltaT: 4.500658 s, approachRate: -0.666568 m/s, LOS rate: 0.276191 deg/s, posRepo size: 4
2021-01-28T00:29:09.475Z,1611793749.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.400002 m,
      bearing: 97.348924 deg,
      approachRate: -0.666568 m/s,
      LOS rate: 0.276191 deg/s,
      cmd update: 1.104763 deg/s,
      cmd heading: 92.289120 deg,
      new cmd heading: 91.484479 deg.

2021-01-28T00:29:11.867Z,1611793751.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:12.626Z,1611793752.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:13.036Z,1611793753.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:13.883Z,1611793753.883 [Micromodem](INFO): Nmea in: $SNTTA,0.049763,,,,002914.37*45

2021-01-28T00:29:13.906Z,1611793753.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 96.237475 deg, deltaT: 4.437874 s, approachRate: -0.662480 m/s, LOS rate: -0.250446 deg/s, posRepo size: 4
2021-01-28T00:29:13.933Z,1611793753.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.459999 m,
      bearing: 96.237475 deg,
      approachRate: -0.662480 m/s,
      LOS rate: -0.250446 deg/s,
      cmd update: -1.001785 deg/s,
      cmd heading: 97.191932 deg,
      new cmd heading: 97.568495 deg.

2021-01-28T00:29:16.296Z,1611793756.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:17.066Z,1611793757.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:17.476Z,1611793757.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:18.329Z,1611793758.329 [Micromodem](INFO): Nmea in: $SNTTA,0.047881,,,,002918.81*49

2021-01-28T00:29:18.394Z,1611793758.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 95.069137 deg, deltaT: 4.327554 s, approachRate: -0.651636 m/s, LOS rate: -0.269977 deg/s, posRepo size: 4
2021-01-28T00:29:18.395Z,1611793758.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.640007 m,
      bearing: 95.069137 deg,
      approachRate: -0.651636 m/s,
      LOS rate: -0.269977 deg/s,
      cmd update: -1.079906 deg/s,
      cmd heading: 92.856983 deg,
      new cmd heading: 92.355354 deg.

2021-01-28T00:29:20.741Z,1611793760.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:21.516Z,1611793761.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:21.920Z,1611793761.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:22.771Z,1611793762.771 [Micromodem](INFO): Nmea in: $SNTTA,0.045995,,,,002923.26*4A

2021-01-28T00:29:22.781Z,1611793762.781 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T00:29:22.794Z,1611793762.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.760002 m, bearing: 97.156347 deg, deltaT: 4.500051 s, approachRate: -0.639994 m/s, LOS rate: 0.463819 deg/s, posRepo size: 4
2021-01-28T00:29:22.817Z,1611793762.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.760002 m,
      bearing: 97.156347 deg,
      approachRate: -0.639994 m/s,
      LOS rate: 0.463819 deg/s,
      cmd update: 1.855277 deg/s,
      cmd heading: 87.996984 deg,
      new cmd heading: 87.563691 deg.

2021-01-28T00:29:25.178Z,1611793765.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:25.944Z,1611793765.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:26.376Z,1611793766.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:27.213Z,1611793767.213 [Micromodem](INFO): Nmea in: $SNTTA,0.044110,,,,002927.69*41

2021-01-28T00:29:27.256Z,1611793767.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.000000 m, bearing: 96.469203 deg, deltaT: 4.394030 s, approachRate: -0.628125 m/s, LOS rate: -0.156381 deg/s, posRepo size: 4
2021-01-28T00:29:27.258Z,1611793767.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.000000 m,
      bearing: 96.469203 deg,
      approachRate: -0.628125 m/s,
      LOS rate: -0.156381 deg/s,
      cmd update: -0.625525 deg/s,
      cmd heading: 96.149085 deg,
      new cmd heading: 97.019028 deg.

2021-01-28T00:29:29.662Z,1611793769.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:30.422Z,1611793770.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:30.808Z,1611793770.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:31.627Z,1611793771.627 [Micromodem](INFO): Nmea in: $SNTTA,0.042246,,,,002932.17*4A

2021-01-28T00:29:31.675Z,1611793771.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.600002 m, bearing: 98.745076 deg, deltaT: 4.492018 s, approachRate: -0.534281 m/s, LOS rate: 0.506648 deg/s, posRepo size: 4
2021-01-28T00:29:31.677Z,1611793771.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.600002 m,
      bearing: 98.745076 deg,
      approachRate: -0.534281 m/s,
      LOS rate: 0.506648 deg/s,
      cmd update: 2.026594 deg/s,
      cmd heading: 93.342716 deg,
      new cmd heading: 93.091773 deg.

2021-01-28T00:29:33.637Z,1611793773.637 [Micromodem](INFO): Nmea in: $CAERR,002935,DATA_TIMEOUT,2*40

2021-01-28T00:29:34.038Z,1611793774.038 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-01-28T00:29:34.106Z,1611793774.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:34.846Z,1611793774.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:35.646Z,1611793775.646 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-01-28T00:29:35.646Z,1611793775.646 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-01-28T00:29:36.059Z,1611793776.059 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,002935.140788,3,0,200,4000,14500,1,1,10,1,2,1,3,64*47

2021-01-28T00:29:36.059Z,1611793776.059 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,002935.140788,3,0,200,4000,14500,1,1,10,1,2,1,3,64*47

2021-01-28T00:29:36.887Z,1611793776.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:37.387Z,1611793777.387 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T00:29:37.674Z,1611793777.674 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128002937.999689,06,7114,38,0227,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.8,6.00,14,-3.00,-01,1.14,33,14500,4000*53

2021-01-28T00:29:37.674Z,1611793777.674 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128002937.999689,06,7114,38,0227,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.8,6.00,14,-3.00,-01,1.14,33,14500,4000*53

2021-01-28T00:29:39.450Z,1611793779.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:42.150Z,1611793782.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:45.005Z,1611793785.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:46.158Z,1611793786.158 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:46.556Z,1611793786.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:47.421Z,1611793787.421 [Micromodem](INFO): Nmea in: $SNTTA,0.035519,,,,002947.90*4A

2021-01-28T00:29:47.480Z,1611793787.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 95.848967 deg, deltaT: 15.736538 s, approachRate: -0.671050 m/s, LOS rate: -0.184037 deg/s, posRepo size: 4
2021-01-28T00:29:47.482Z,1611793787.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.040001 m,
      bearing: 95.848967 deg,
      approachRate: -0.671050 m/s,
      LOS rate: -0.184037 deg/s,
      cmd update: -0.736149 deg/s,
      cmd heading: 125.244257 deg,
      new cmd heading: 126.185559 deg.

2021-01-28T00:29:49.826Z,1611793789.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:50.595Z,1611793790.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:51.002Z,1611793791.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:51.833Z,1611793791.833 [Micromodem](INFO): Nmea in: $SNTTA,0.033779,,,,002952.34*42

2021-01-28T00:29:51.886Z,1611793791.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.459995 m, bearing: 91.991221 deg, deltaT: 4.451037 s, approachRate: -0.579641 m/s, LOS rate: -0.866707 deg/s, posRepo size: 4
2021-01-28T00:29:51.889Z,1611793791.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.459995 m,
      bearing: 91.991221 deg,
      approachRate: -0.579641 m/s,
      LOS rate: -0.866707 deg/s,
      cmd update: -3.466829 deg/s,
      cmd heading: 121.967114 deg,
      new cmd heading: 121.661144 deg.

2021-01-28T00:29:54.438Z,1611793794.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:55.058Z,1611793795.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:55.467Z,1611793795.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:29:56.301Z,1611793796.301 [Micromodem](INFO): Nmea in: $SNTTA,0.031919,,,,002956.80*43

2021-01-28T00:29:56.380Z,1611793796.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.700005 m, bearing: 93.518636 deg, deltaT: 4.431221 s, approachRate: -0.622851 m/s, LOS rate: 0.344694 deg/s, posRepo size: 4
2021-01-28T00:29:56.383Z,1611793796.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.700005 m,
      bearing: 93.518636 deg,
      approachRate: -0.622851 m/s,
      LOS rate: 0.344694 deg/s,
      cmd update: 1.378775 deg/s,
      cmd heading: 106.618757 deg,
      new cmd heading: 105.075238 deg.

2021-01-28T00:29:58.820Z,1611793798.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:29:59.490Z,1611793799.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:29:59.905Z,1611793799.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:00.749Z,1611793800.749 [Micromodem](INFO): Nmea in: $SNTTA,0.030205,,0.045699,,003001.23*5E

2021-01-28T00:30:00.871Z,1611793800.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 89.907351 deg, deltaT: 4.500965 s, approachRate: -0.586542 m/s, LOS rate: -0.802336 deg/s, posRepo size: 4
2021-01-28T00:30:00.873Z,1611793800.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.059998 m,
      bearing: 89.907351 deg,
      approachRate: -0.586542 m/s,
      LOS rate: -0.802336 deg/s,
      cmd update: -3.209343 deg/s,
      cmd heading: 112.824467 deg,
      new cmd heading: 113.481164 deg.

2021-01-28T00:30:03.157Z,1611793803.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:03.934Z,1611793803.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:04.372Z,1611793804.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:05.193Z,1611793805.193 [Micromodem](INFO): Nmea in: $SNTTA,0.028326,,,,003005.68*45

2021-01-28T00:30:05.363Z,1611793805.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 87.171232 deg, deltaT: 4.380317 s, approachRate: -0.630091 m/s, LOS rate: -0.624640 deg/s, posRepo size: 4
2021-01-28T00:30:05.369Z,1611793805.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.299999 m,
      bearing: 87.171232 deg,
      approachRate: -0.630091 m/s,
      LOS rate: -0.624640 deg/s,
      cmd update: -2.498558 deg/s,
      cmd heading: 98.753450 deg,
      new cmd heading: 96.891733 deg.

2021-01-28T00:30:07.330Z,1611793807.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:07.970Z,1611793807.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:08.412Z,1611793808.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:08.424Z,1611793808.424 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-28T00:30:09.008Z,1611793809.008 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160300000005D000004003E0000000000000000151D80030C5669BF527B605F7A2C569C7F9347CD59656306BBFFB18EAABC9DE188029A3ED3DEB7E95FF4
2021-01-28T00:30:09.009Z,1611793809.009 [Micromodem](INFO): Outgoing frame #2, 17 bytes: A3789CF7D113F7666946FFC49987ACA000
2021-01-28T00:30:09.010Z,1611793809.010 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T00:30:09.298Z,1611793809.298 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T00:30:09.326Z,1611793809.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 88.773253 deg, deltaT: 4.323653 s, approachRate: -0.402438 m/s, LOS rate: 0.370525 deg/s, posRepo size: 4
2021-01-28T00:30:09.330Z,1611793809.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.559998 m,
      bearing: 88.773253 deg,
      approachRate: -0.402438 m/s,
      LOS rate: 0.370525 deg/s,
      cmd update: 1.482099 deg/s,
      cmd heading: 87.976944 deg,
      new cmd heading: 87.393396 deg.

2021-01-28T00:30:09.702Z,1611793809.702 [Micromodem](INFO): Nmea in: $CADRQ,003010,1,10,0,64,1*74

2021-01-28T00:30:09.702Z,1611793809.702 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160300000005D000004003E0000000000000000151D80030C5669BF527B605F7A2C569C7F9347CD59656306BBFFB18EAABC9DE188029A3ED3DEB7E95FF4*42

2021-01-28T00:30:10.108Z,1611793810.108 [Micromodem](INFO): Nmea in: $SNTTA,0.026660,,,,003009.71*48

2021-01-28T00:30:10.109Z,1611793810.109 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.026660,,,,003009.71*48

2021-01-28T00:30:11.294Z,1611793811.294 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:30:11.698Z,1611793811.698 [Micromodem](INFO): Nmea in: $CADRQ,003011,1,10,0,64,2*76

2021-01-28T00:30:11.699Z,1611793811.699 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A3789CF7D113F7666946FFC49987ACA000*3F

2021-01-28T00:30:11.867Z,1611793811.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:12.106Z,1611793812.106 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-01-28T00:30:12.510Z,1611793812.510 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-01-28T00:30:12.511Z,1611793812.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:14.579Z,1611793814.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:14.961Z,1611793814.961 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-01-28T00:30:14.961Z,1611793814.961 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-01-28T00:30:15.351Z,1611793815.351 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,003013.426868,3,0,200,4000,14500,1,1,10,1,2,2,3,81*47

2021-01-28T00:30:15.372Z,1611793815.372 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,003013.426868,3,0,200,4000,14500,1,1,10,1,2,2,3,81*47

2021-01-28T00:30:17.414Z,1611793817.414 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T00:30:17.472Z,1611793817.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:17.772Z,1611793817.772 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-28T00:30:17.773Z,1611793817.773 [Micromodem](INFO): Sent 73 bytes from file Logs/20210127T223404/Courier0048.lzma.parts
2021-01-28T00:30:17.773Z,1611793817.773 [Micromodem](INFO): Packets left to send: 0
2021-01-28T00:30:18.219Z,1611793818.219 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128003018.059067,06,7711,38,0225,0150,07,00,00,00,02,1,010,001,0,4,1,0,150,18.6,5.00,13,-2.00,-01,1.19,36,14500,4000*59

2021-01-28T00:30:18.224Z,1611793818.224 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128003018.059067,06,7711,38,0225,0150,07,00,00,00,02,1,010,001,0,4,1,0,150,18.6,5.00,13,-2.00,-01,1.19,36,14500,4000*59

2021-01-28T00:30:18.527Z,1611793818.527 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-28T00:30:18.527Z,1611793818.527 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-28T00:30:18.527Z,1611793818.527 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-28T00:30:18.527Z,1611793818.527 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T00:30:18.527Z,1611793818.527 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-28T00:30:20.043Z,1611793820.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:22.868Z,1611793822.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:23.641Z,1611793823.641 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:24.060Z,1611793824.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:24.889Z,1611793824.889 [Micromodem](INFO): Nmea in: $SNTTA,0.020179,,,,003025.38*42

2021-01-28T00:30:24.904Z,1611793824.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.059999 m, bearing: 83.896744 deg, deltaT: 15.400853 s, approachRate: -0.681780 m/s, LOS rate: -0.316639 deg/s, posRepo size: 4
2021-01-28T00:30:24.905Z,1611793824.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.06 m.
2021-01-28T00:30:24.907Z,1611793824.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.059999 m,
      bearing: 83.896744 deg,
      approachRate: -0.681780 m/s,
      LOS rate: -0.316639 deg/s,
      cmd update: -1.266556 deg/s,
      cmd heading: 110.818196 deg,
      new cmd heading: 111.411219 deg.

2021-01-28T00:30:25.306Z,1611793825.306 [PowerOnly](INFO): Powering up loadControl
2021-01-28T00:30:27.431Z,1611793827.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:28.122Z,1611793828.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:28.537Z,1611793828.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:29.349Z,1611793829.349 [Micromodem](INFO): Nmea in: $SNTTA,0.018473,,,,003029.86*4F

2021-01-28T00:30:29.416Z,1611793829.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.480000 m, bearing: 79.156763 deg, deltaT: 4.431650 s, approachRate: -0.582176 m/s, LOS rate: -1.069575 deg/s, posRepo size: 4
2021-01-28T00:30:29.419Z,1611793829.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.48 m.
2021-01-28T00:30:29.422Z,1611793829.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.480000 m,
      bearing: 79.156763 deg,
      approachRate: -0.582176 m/s,
      LOS rate: -1.069575 deg/s,
      cmd update: -4.278299 deg/s,
      cmd heading: 105.205477 deg,
      new cmd heading: 104.598426 deg.

2021-01-28T00:30:31.449Z,1611793831.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:32.150Z,1611793832.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:32.564Z,1611793832.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:33.446Z,1611793833.446 [Micromodem](INFO): Nmea in: $SNTTA,0.016952,,,,003033.89*4B

2021-01-28T00:30:33.508Z,1611793833.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 78.001163 deg, deltaT: 4.037823 s, approachRate: -0.564661 m/s, LOS rate: -0.286194 deg/s, posRepo size: 4
2021-01-28T00:30:33.509Z,1611793833.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.20 m.
2021-01-28T00:30:33.511Z,1611793833.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.199999 m,
      bearing: 78.001163 deg,
      approachRate: -0.564661 m/s,
      LOS rate: -0.286194 deg/s,
      cmd update: -1.144775 deg/s,
      cmd heading: 87.930101 deg,
      new cmd heading: 85.641952 deg.

2021-01-28T00:30:35.787Z,1611793835.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:36.578Z,1611793836.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:36.976Z,1611793836.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:37.825Z,1611793837.825 [Micromodem](INFO): Nmea in: $SNTTA,0.015275,,,,003038.32*4D

2021-01-28T00:30:37.850Z,1611793837.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 77.103649 deg, deltaT: 4.477588 s, approachRate: -0.562804 m/s, LOS rate: -0.200446 deg/s, posRepo size: 4
2021-01-28T00:30:37.851Z,1611793837.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.68 m.
2021-01-28T00:30:37.853Z,1611793837.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.679996 m,
      bearing: 77.103649 deg,
      approachRate: -0.562804 m/s,
      LOS rate: -0.200446 deg/s,
      cmd update: -0.801784 deg/s,
      cmd heading: 82.804336 deg,
      new cmd heading: 82.346761 deg.

2021-01-28T00:30:40.382Z,1611793840.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:41.102Z,1611793841.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:41.444Z,1611793841.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:42.295Z,1611793842.295 [Micromodem](INFO): Nmea in: $SNTTA,0.014656,,,,003042.85*48

2021-01-28T00:30:42.384Z,1611793842.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 75.870035 deg, deltaT: 4.409612 s, approachRate: -0.217705 m/s, LOS rate: -0.279756 deg/s, posRepo size: 4
2021-01-28T00:30:42.384Z,1611793842.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.72 m.
2021-01-28T00:30:42.386Z,1611793842.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 75.870035 deg,
      approachRate: -0.217705 m/s,
      LOS rate: -0.279756 deg/s,
      cmd update: -1.119023 deg/s,
      cmd heading: 79.268750 deg,
      new cmd heading: 78.849247 deg.

2021-01-28T00:30:44.492Z,1611793844.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:45.255Z,1611793845.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:45.624Z,1611793845.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:46.469Z,1611793846.469 [Micromodem](INFO): Nmea in: $SNTTA,0.012059,,,,003047.00*4F

2021-01-28T00:30:46.522Z,1611793846.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 74.118911 deg, deltaT: 4.190361 s, approachRate: -0.916389 m/s, LOS rate: -0.417893 deg/s, posRepo size: 4
2021-01-28T00:30:46.522Z,1611793846.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.88 m.
2021-01-28T00:30:46.523Z,1611793846.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 17.88 m.
2021-01-28T00:30:46.523Z,1611793846.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-28T00:30:46.525Z,1611793846.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.879999 m,
      bearing: 74.118911 deg,
      approachRate: -0.916389 m/s,
      LOS rate: -0.417893 deg/s,
      cmd update: -1.671573 deg/s,
      cmd heading: 74.579620 deg,
      new cmd heading: 74.052621 deg.

2021-01-28T00:30:48.858Z,1611793848.858 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-28T00:30:48.877Z,1611793848.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:49.666Z,1611793849.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:50.072Z,1611793850.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:50.910Z,1611793850.910 [Micromodem](INFO): Nmea in: $SNTTA,0.010369,,,0.014181,003051.41*5C

2021-01-28T00:30:50.943Z,1611793850.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.359997 m, bearing: 71.357022 deg, deltaT: 4.507088 s, approachRate: -0.559120 m/s, LOS rate: -0.612788 deg/s, posRepo size: 4
2021-01-28T00:30:50.945Z,1611793850.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.359997 m,
      bearing: 71.357022 deg,
      approachRate: -0.559120 m/s,
      LOS rate: -0.612788 deg/s,
      cmd update: -2.451152 deg/s,
      cmd heading: 67.065751 deg,
      new cmd heading: 66.401409 deg.

2021-01-28T00:30:53.375Z,1611793853.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:54.115Z,1611793854.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:54.524Z,1611793854.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:55.375Z,1611793855.375 [Micromodem](INFO): Nmea in: $SNTTA,0.008633,0.012089,,,003055.86*5F

2021-01-28T00:30:55.422Z,1611793855.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.719999 m, bearing: 72.864096 deg, deltaT: 4.380861 s, approachRate: -0.602621 m/s, LOS rate: 0.344013 deg/s, posRepo size: 4
2021-01-28T00:30:55.424Z,1611793855.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 72.864096 deg,
      approachRate: -0.602621 m/s,
      LOS rate: 0.344013 deg/s,
      cmd update: 1.376053 deg/s,
      cmd heading: 56.301824 deg,
      new cmd heading: 55.113932 deg.

2021-01-28T00:30:57.781Z,1611793857.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:30:58.558Z,1611793858.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:30:58.971Z,1611793858.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:30:59.805Z,1611793859.805 [Micromodem](INFO): Nmea in: $SNTTA,0.007027,,0.009802,,003100.30*5E

2021-01-28T00:30:59.827Z,1611793859.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.319998 m, bearing: 82.214864 deg, deltaT: 4.502449 s, approachRate: -0.533044 m/s, LOS rate: 2.076818 deg/s, posRepo size: 4
2021-01-28T00:30:59.858Z,1611793859.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 82.214864 deg,
      approachRate: -0.533044 m/s,
      LOS rate: 2.076818 deg/s,
      cmd update: 8.307273 deg/s,
      cmd heading: 62.488062 deg,
      new cmd heading: 63.030528 deg.

2021-01-28T00:31:02.255Z,1611793862.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:03.016Z,1611793863.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:03.412Z,1611793863.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:04.245Z,1611793864.245 [Micromodem](INFO): Nmea in: $SNTTA,0.005530,,,,003104.76*44

2021-01-28T00:31:04.289Z,1611793864.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 88.620728 deg, deltaT: 4.381851 s, approachRate: -0.520328 m/s, LOS rate: 1.461908 deg/s, posRepo size: 4
2021-01-28T00:31:04.291Z,1611793864.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 88.620728 deg,
      approachRate: -0.520328 m/s,
      LOS rate: 1.461908 deg/s,
      cmd update: 5.847633 deg/s,
      cmd heading: 98.958860 deg,
      new cmd heading: 102.830531 deg.

2021-01-28T00:31:06.374Z,1611793866.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:07.042Z,1611793867.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:07.463Z,1611793867.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:08.298Z,1611793868.298 [Micromodem](INFO): Nmea in: $SNTTA,0.004173,,0.104866,,003108.78*57

2021-01-28T00:31:08.375Z,1611793868.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 90.284275 deg, deltaT: 4.038324 s, approachRate: -0.505161 m/s, LOS rate: 0.411940 deg/s, posRepo size: 4
2021-01-28T00:31:08.381Z,1611793868.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 90.284275 deg,
      approachRate: -0.505161 m/s,
      LOS rate: 0.411940 deg/s,
      cmd update: 1.647760 deg/s,
      cmd heading: 122.573648 deg,
      new cmd heading: 125.574396 deg.

2021-01-28T00:31:10.706Z,1611793870.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:11.478Z,1611793871.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:11.896Z,1611793871.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:12.729Z,1611793872.729 [Micromodem](INFO): Nmea in: $SNTTA,0.002693,,,,003113.22*4E

2021-01-28T00:31:12.753Z,1611793872.753 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-28T00:31:12.753Z,1611793872.753 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:31:12.753Z,1611793872.753 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-28T00:31:12.753Z,1611793872.753 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:31:12.753Z,1611793872.753 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-28T00:31:12.754Z,1611793872.754 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.839998 m 
2021-01-28T00:31:12.754Z,1611793872.754 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-28T00:31:12.754Z,1611793872.754 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-28T00:31:12.754Z,1611793872.754 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-28T00:31:12.756Z,1611793872.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 91.883700 deg, deltaT: 4.511157 s, approachRate: -0.478813 m/s, LOS rate: 0.354549 deg/s, posRepo size: 4
2021-01-28T00:31:12.758Z,1611793872.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 91.883700 deg,
      approachRate: -0.478813 m/s,
      LOS rate: 0.354549 deg/s,
      cmd update: 1.418195 deg/s,
      cmd heading: 130.000384 deg,
      new cmd heading: 130.638817 deg.

2021-01-28T00:31:13.130Z,1611793873.130 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210128T003113: (41.551998, -70.709610)
2021-01-28T00:31:13.130Z,1611793873.130 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-28T00:31:13.130Z,1611793873.130 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-28T00:31:13.130Z,1611793873.130 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:31:13.131Z,1611793873.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-28T00:31:13.131Z,1611793873.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:31:13.131Z,1611793873.131 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-28T00:31:13.131Z,1611793873.131 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-28T00:31:13.131Z,1611793873.131 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:31:15.123Z,1611793875.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:15.945Z,1611793875.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:16.349Z,1611793876.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:17.165Z,1611793877.165 [Micromodem](INFO): Nmea in: $SNTTA,0.004612,,,,003117.69*4A

2021-01-28T00:31:17.230Z,1611793877.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 88.638316 deg, deltaT: 4.388385 s, approachRate: -0.328139 m/s, LOS rate: -0.739540 deg/s, posRepo size: 4
2021-01-28T00:31:17.236Z,1611793877.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 88.638316 deg,
      approachRate: -0.328139 m/s,
      LOS rate: -0.739540 deg/s,
      cmd update: -2.958159 deg/s,
      cmd heading: 136.229344 deg,
      new cmd heading: 136.894393 deg.

2021-01-28T00:31:19.629Z,1611793879.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:20.402Z,1611793880.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:20.776Z,1611793880.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:21.607Z,1611793881.607 [Micromodem](INFO): Nmea in: $SNTTA,0.002433,,,,003122.14*41

2021-01-28T00:31:21.661Z,1611793881.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 102.041134 deg, deltaT: 4.485398 s, approachRate: 0.307665 m/s, LOS rate: 2.988100 deg/s, posRepo size: 4
2021-01-28T00:31:21.663Z,1611793881.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 102.041134 deg,
      approachRate: 0.307665 m/s,
      LOS rate: 2.988100 deg/s,
      cmd update: 11.952401 deg/s,
      cmd heading: 122.972421 deg,
      new cmd heading: 121.734777 deg.

2021-01-28T00:31:24.029Z,1611793884.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:24.814Z,1611793884.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:25.239Z,1611793885.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:26.053Z,1611793886.053 [Micromodem](INFO): Nmea in: $SNTTA,0.004134,,,,003126.56*47

2021-01-28T00:31:26.094Z,1611793886.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 122.650076 deg, deltaT: 4.401129 s, approachRate: 0.558948 m/s, LOS rate: 4.682649 deg/s, posRepo size: 4
2021-01-28T00:31:26.100Z,1611793886.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 122.650076 deg,
      approachRate: 0.558948 m/s,
      LOS rate: 4.682649 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 175.625089 deg,
      new cmd heading: 180.964717 deg.

2021-01-28T00:31:28.493Z,1611793888.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:29.270Z,1611793889.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:29.682Z,1611793889.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:30.501Z,1611793890.501 [Micromodem](INFO): Nmea in: $SNTTA,0.008019,,,,003131.01*41

2021-01-28T00:31:30.556Z,1611793890.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.299998 m, bearing: 137.821046 deg, deltaT: 4.449717 s, approachRate: 0.687684 m/s, LOS rate: 3.409424 deg/s, posRepo size: 4
2021-01-28T00:31:30.558Z,1611793890.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 137.821046 deg,
      approachRate: 0.687684 m/s,
      LOS rate: 3.409424 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 229.022535 deg,
      new cmd heading: 234.526239 deg.

2021-01-28T00:31:32.939Z,1611793892.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:33.713Z,1611793893.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:34.109Z,1611793894.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:34.942Z,1611793894.942 [Micromodem](INFO): Nmea in: $SNTTA,0.009930,,,0.254416,003135.45*58

2021-01-28T00:31:35.038Z,1611793895.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.700000 m, bearing: 164.949328 deg, deltaT: 4.456975 s, approachRate: 1.211584 m/s, LOS rate: 6.086703 deg/s, posRepo size: 4
2021-01-28T00:31:35.038Z,1611793895.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.70 m. Rolling out.
2021-01-28T00:31:35.038Z,1611793895.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-28T00:31:37.408Z,1611793897.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:38.162Z,1611793898.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:38.552Z,1611793898.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:39.393Z,1611793899.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003139.90*5F

2021-01-28T00:31:39.449Z,1611793899.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.219997 m, bearing: 189.268968 deg, deltaT: 4.411283 s, approachRate: 0.571262 m/s, LOS rate: 5.513054 deg/s, posRepo size: 4
2021-01-28T00:31:41.476Z,1611793901.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:42.192Z,1611793902.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:42.595Z,1611793902.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:43.454Z,1611793903.454 [Micromodem](INFO): Nmea in: $SNTTA,0.012495,,,,003143.93*44

2021-01-28T00:31:43.502Z,1611793903.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 216.671345 deg, deltaT: 4.071589 s, approachRate: 0.383143 m/s, LOS rate: 6.730143 deg/s, posRepo size: 4
2021-01-28T00:31:45.841Z,1611793905.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:46.636Z,1611793906.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:47.040Z,1611793907.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:47.881Z,1611793907.881 [Micromodem](INFO): Nmea in: $SNTTA,0.014718,,,,003148.38*4E

2021-01-28T00:31:47.903Z,1611793907.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 249.332531 deg, deltaT: 4.465029 s, approachRate: 0.456885 m/s, LOS rate: 7.314888 deg/s, posRepo size: 4
2021-01-28T00:31:50.295Z,1611793910.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:51.078Z,1611793911.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:51.492Z,1611793911.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:52.332Z,1611793912.332 [Micromodem](INFO): Nmea in: $SNTTA,0.015466,,,,003152.82*4F

2021-01-28T00:31:52.398Z,1611793912.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.280001 m, bearing: 288.346381 deg, deltaT: 4.432845 s, approachRate: 0.554948 m/s, LOS rate: 8.801086 deg/s, posRepo size: 4
2021-01-28T00:31:54.736Z,1611793914.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:55.526Z,1611793915.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:55.924Z,1611793915.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:31:56.761Z,1611793916.761 [Micromodem](INFO): Nmea in: $SNTTA,0.017032,,0.027562,,003157.27*58

2021-01-28T00:31:56.812Z,1611793916.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 278.605602 deg, deltaT: 4.458771 s, approachRate: 0.524808 m/s, LOS rate: -2.184633 deg/s, posRepo size: 4
2021-01-28T00:31:59.174Z,1611793919.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:31:59.962Z,1611793919.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:31:59.966Z,1611793919.966 [PowerOnly](INFO): Powering down loadControl
2021-01-28T00:32:00.382Z,1611793920.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:01.229Z,1611793921.229 [Micromodem](INFO): Nmea in: $SNTTA,0.018940,,0.042555,,003201.70*5E

2021-01-28T00:32:01.278Z,1611793921.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 327.969210 deg, deltaT: 4.409459 s, approachRate: 0.639535 m/s, LOS rate: 11.194935 deg/s, posRepo size: 4
2021-01-28T00:32:03.637Z,1611793923.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:04.422Z,1611793924.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:04.816Z,1611793924.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:05.648Z,1611793925.648 [Micromodem](INFO): Nmea in: $SNTTA,0.019161,,,,003206.17*4F

2021-01-28T00:32:05.715Z,1611793925.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.740002 m, bearing: 346.843099 deg, deltaT: 4.474931 s, approachRate: 0.067040 m/s, LOS rate: 4.217694 deg/s, posRepo size: 4
2021-01-28T00:32:08.077Z,1611793928.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:08.856Z,1611793928.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:09.262Z,1611793929.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:10.125Z,1611793930.125 [Micromodem](INFO): Nmea in: $SNTTA,0.019936,,,,003210.60*42

2021-01-28T00:32:10.159Z,1611793930.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.880001 m, bearing: 354.686451 deg, deltaT: 4.418163 s, approachRate: 0.258026 m/s, LOS rate: 1.775252 deg/s, posRepo size: 4
2021-01-28T00:32:12.527Z,1611793932.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:13.294Z,1611793933.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:13.709Z,1611793933.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:14.533Z,1611793934.533 [Micromodem](INFO): Nmea in: $SNTTA,0.020891,,,,003215.04*43

2021-01-28T00:32:14.582Z,1611793934.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.379999 m, bearing: 351.221960 deg, deltaT: 4.441023 s, approachRate: 0.337760 m/s, LOS rate: -0.780111 deg/s, posRepo size: 4
2021-01-28T00:32:16.967Z,1611793936.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:17.734Z,1611793937.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:18.148Z,1611793938.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:18.977Z,1611793938.977 [Micromodem](INFO): Nmea in: $SNTTA,0.022213,,,,003219.48*45

2021-01-28T00:32:19.006Z,1611793939.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.360001 m, bearing: 342.611496 deg, deltaT: 4.479897 s, approachRate: 0.441975 m/s, LOS rate: -1.922023 deg/s, posRepo size: 4
2021-01-28T00:32:21.444Z,1611793941.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:22.188Z,1611793942.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:22.602Z,1611793942.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:23.441Z,1611793943.441 [Micromodem](INFO): Nmea in: $SNTTA,0.023747,,0.059317,,003223.93*58

2021-01-28T00:32:23.495Z,1611793943.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.699997 m, bearing: 334.244951 deg, deltaT: 4.419339 s, approachRate: 0.529490 m/s, LOS rate: -1.893166 deg/s, posRepo size: 4
2021-01-28T00:32:25.851Z,1611793945.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:26.634Z,1611793946.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:27.043Z,1611793947.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:27.869Z,1611793947.869 [Micromodem](INFO): Nmea in: $SNTTA,0.025410,,,,003228.38*42

2021-01-28T00:32:27.884Z,1611793947.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.220001 m, bearing: 324.913192 deg, deltaT: 4.445723 s, approachRate: 0.566838 m/s, LOS rate: -2.099042 deg/s, posRepo size: 4
2021-01-28T00:32:30.299Z,1611793950.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:31.070Z,1611793951.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:31.476Z,1611793951.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:32.309Z,1611793952.309 [Micromodem](INFO): Nmea in: $SNTTA,0.027652,,0.082666,,003232.81*5F

2021-01-28T00:32:32.396Z,1611793952.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 319.529199 deg, deltaT: 4.412797 s, approachRate: 0.761421 m/s, LOS rate: -1.220086 deg/s, posRepo size: 4
2021-01-28T00:32:34.404Z,1611793954.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:35.126Z,1611793955.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:35.524Z,1611793955.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:36.362Z,1611793956.362 [Micromodem](INFO): Nmea in: $SNTTA,0.028958,,,,003236.87*45

2021-01-28T00:32:36.447Z,1611793956.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.559998 m, bearing: 316.791441 deg, deltaT: 4.058047 s, approachRate: 0.487919 m/s, LOS rate: -0.674649 deg/s, posRepo size: 4
2021-01-28T00:32:38.769Z,1611793958.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:39.563Z,1611793959.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:39.960Z,1611793959.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:40.805Z,1611793960.805 [Micromodem](INFO): Nmea in: $SNTTA,0.030742,,0.055210,,003241.31*59

2021-01-28T00:32:40.842Z,1611793960.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 319.802653 deg, deltaT: 4.476846 s, approachRate: 0.589701 m/s, LOS rate: 0.672619 deg/s, posRepo size: 4
2021-01-28T00:32:43.235Z,1611793963.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:44.007Z,1611793964.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:44.432Z,1611793964.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:45.269Z,1611793965.269 [Micromodem](INFO): Nmea in: $SNTTA,0.033309,,,,003245.75*48

2021-01-28T00:32:45.293Z,1611793965.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.039997 m, bearing: 326.362449 deg, deltaT: 4.414520 s, approachRate: 0.869857 m/s, LOS rate: 1.485959 deg/s, posRepo size: 4
2021-01-28T00:32:47.673Z,1611793967.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:48.454Z,1611793968.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:48.856Z,1611793968.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:49.689Z,1611793969.689 [Micromodem](INFO): Nmea in: $SNTTA,0.034857,,0.049051,,003250.20*5C

2021-01-28T00:32:49.722Z,1611793969.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.319996 m, bearing: 321.895259 deg, deltaT: 4.453017 s, approachRate: 0.512012 m/s, LOS rate: -1.003183 deg/s, posRepo size: 4
2021-01-28T00:32:52.101Z,1611793972.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:52.887Z,1611793972.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:53.292Z,1611793973.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:54.133Z,1611793974.133 [Micromodem](INFO): Nmea in: $SNTTA,0.036947,,,,003254.63*4A

2021-01-28T00:32:54.155Z,1611793974.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.500000 m, bearing: 317.091587 deg, deltaT: 4.436776 s, approachRate: 0.716738 m/s, LOS rate: -1.082694 deg/s, posRepo size: 4
2021-01-28T00:32:56.601Z,1611793976.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:32:57.335Z,1611793977.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:32:57.748Z,1611793977.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:32:58.569Z,1611793978.569 [Micromodem](INFO): Nmea in: $SNTTA,0.039437,,0.234579,,003259.08*5F

2021-01-28T00:32:58.630Z,1611793978.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.280003 m, bearing: 322.200541 deg, deltaT: 4.418325 s, approachRate: 0.855528 m/s, LOS rate: 1.156310 deg/s, posRepo size: 4
2021-01-28T00:33:00.983Z,1611793980.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:01.783Z,1611793981.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:02.220Z,1611793982.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:03.030Z,1611793983.030 [Micromodem](INFO): Nmea in: $SNTTA,0.041524,,,,003303.52*42

2021-01-28T00:33:03.045Z,1611793983.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.119999 m, bearing: 312.446430 deg, deltaT: 4.473165 s, approachRate: 0.858452 m/s, LOS rate: -2.180584 deg/s, posRepo size: 4
2021-01-28T00:33:05.461Z,1611793985.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:06.258Z,1611793986.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:06.640Z,1611793986.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:07.451Z,1611793987.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003308.00*56

2021-01-28T00:33:07.501Z,1611793987.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.300003 m, bearing: 308.874815 deg, deltaT: 4.445448 s, approachRate: 0.715339 m/s, LOS rate: -0.803432 deg/s, posRepo size: 4
2021-01-28T00:33:09.886Z,1611793989.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:10.678Z,1611793990.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:11.087Z,1611793991.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:11.918Z,1611793991.918 [Micromodem](INFO): Nmea in: $SNTTA,0.046276,,,,003312.42*44

2021-01-28T00:33:11.941Z,1611793991.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.479996 m, bearing: 298.797417 deg, deltaT: 4.483382 s, approachRate: 0.709284 m/s, LOS rate: -2.247722 deg/s, posRepo size: 4
2021-01-28T00:33:14.383Z,1611793994.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:15.124Z,1611793995.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:15.530Z,1611793995.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:16.365Z,1611793996.365 [Micromodem](INFO): Nmea in: $SNTTA,0.048760,,,,003316.87*45

2021-01-28T00:33:16.415Z,1611793996.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.440002 m, bearing: 322.611418 deg, deltaT: 4.403858 s, approachRate: 0.899213 m/s, LOS rate: 5.407532 deg/s, posRepo size: 4
2021-01-28T00:33:18.777Z,1611793998.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:19.562Z,1611793999.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:19.989Z,1611793999.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:20.798Z,1611794000.798 [Micromodem](INFO): Nmea in: $SNTTA,0.050915,,,0.069058,003321.30*54

2021-01-28T00:33:20.840Z,1611794000.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.840004 m, bearing: 281.002916 deg, deltaT: 4.472700 s, approachRate: 0.536589 m/s, LOS rate: -9.302771 deg/s, posRepo size: 4
2021-01-28T00:33:23.272Z,1611794003.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:23.000Z,1611794004.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:24.416Z,1611794004.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:25.269Z,1611794005.269 [Micromodem](INFO): Nmea in: $SNTTA,0.053406,,,,003325.74*40

2021-01-28T00:33:25.310Z,1611794005.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 282.163885 deg, deltaT: 4.459918 s, approachRate: 0.834095 m/s, LOS rate: 0.260312 deg/s, posRepo size: 4
2021-01-28T00:33:27.663Z,1611794007.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:28.458Z,1611794008.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:28.860Z,1611794008.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:29.697Z,1611794009.697 [Micromodem](INFO): Nmea in: $SNTTA,0.055027,,,,003330.20*44

2021-01-28T00:33:29.740Z,1611794009.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.620003 m, bearing: 282.366987 deg, deltaT: 4.434134 s, approachRate: 0.690102 m/s, LOS rate: 0.045804 deg/s, posRepo size: 4
2021-01-28T00:33:32.101Z,1611794012.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:32.902Z,1611794012.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:33.300Z,1611794013.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:34.137Z,1611794014.137 [Micromodem](INFO): Nmea in: $SNTTA,0.057289,,,,003334.65*45

2021-01-28T00:33:34.185Z,1611794014.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.459999 m, bearing: 277.202135 deg, deltaT: 4.423261 s, approachRate: 0.868137 m/s, LOS rate: -1.167657 deg/s, posRepo size: 4
2021-01-28T00:33:36.580Z,1611794016.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:37.361Z,1611794017.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:37.755Z,1611794017.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:38.566Z,1611794018.566 [Micromodem](INFO): Nmea in: $SNTTA,0.059619,,,,003339.10*49

2021-01-28T00:33:38.608Z,1611794018.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.519997 m, bearing: 282.605224 deg, deltaT: 4.451655 s, approachRate: 0.687384 m/s, LOS rate: 1.213726 deg/s, posRepo size: 4
2021-01-28T00:33:41.009Z,1611794021.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:41.782Z,1611794021.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:42.206Z,1611794022.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:43.033Z,1611794023.033 [Micromodem](INFO): Nmea in: $SNTTA,0.061943,,,,003343.53*48

2021-01-28T00:33:43.055Z,1611794023.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.000000 m, bearing: 282.169431 deg, deltaT: 4.421733 s, approachRate: 0.787022 m/s, LOS rate: -0.098557 deg/s, posRepo size: 4
2021-01-28T00:33:45.473Z,1611794025.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:46.246Z,1611794026.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:46.632Z,1611794026.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:47.466Z,1611794027.466 [Micromodem](INFO): Nmea in: $SNTTA,0.064290,,,,003347.99*4A

2021-01-28T00:33:47.523Z,1611794027.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 253.089682 deg, deltaT: 4.459893 s, approachRate: 0.847554 m/s, LOS rate: -6.520280 deg/s, posRepo size: 4
2021-01-28T00:33:49.894Z,1611794029.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:50.682Z,1611794030.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:51.072Z,1611794031.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:51.933Z,1611794031.933 [Micromodem](INFO): Nmea in: $SNTTA,0.066789,,0.076496,,003352.42*53

2021-01-28T00:33:51.984Z,1611794031.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.320007 m, bearing: 273.776767 deg, deltaT: 4.437930 s, approachRate: 0.797671 m/s, LOS rate: 4.661427 deg/s, posRepo size: 4
2021-01-28T00:33:54.382Z,1611794034.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:55.130Z,1611794035.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:55.520Z,1611794035.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:33:56.360Z,1611794036.360 [Micromodem](INFO): Nmea in: $SNTTA,0.069018,,,,003356.87*4A

2021-01-28T00:33:56.424Z,1611794036.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.620003 m, bearing: 277.536595 deg, deltaT: 4.451329 s, approachRate: 0.741351 m/s, LOS rate: 0.844653 deg/s, posRepo size: 4
2021-01-28T00:33:58.782Z,1611794038.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:33:59.559Z,1611794039.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:33:59.981Z,1611794039.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:00.807Z,1611794040.807 [Micromodem](INFO): Nmea in: $SNTTA,0.071337,,,,003401.30*44

2021-01-28T00:34:00.827Z,1611794040.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.100006 m, bearing: 276.405106 deg, deltaT: 4.485261 s, approachRate: 0.775875 m/s, LOS rate: -0.252268 deg/s, posRepo size: 4
2021-01-28T00:34:03.271Z,1611794043.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:04.004Z,1611794044.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:04.418Z,1611794044.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:05.254Z,1611794045.254 [Micromodem](INFO): Nmea in: $SNTTA,0.073795,,,,003405.75*4F

2021-01-28T00:34:06.049Z,1611794046.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:07.641Z,1611794047.641 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:34:08.870Z,1611794048.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:09.655Z,1611794049.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:10.072Z,1611794050.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:10.905Z,1611794050.905 [Micromodem](INFO): Nmea in: $SNTTA,0.076996,,,,003411.40*44

2021-01-28T00:34:10.927Z,1611794050.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.560005 m, bearing: 277.633721 deg, deltaT: 10.051907 s, approachRate: 0.841631 m/s, LOS rate: 0.122227 deg/s, posRepo size: 4
2021-01-28T00:34:13.327Z,1611794053.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:14.110Z,1611794054.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:14.516Z,1611794054.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:15.368Z,1611794055.368 [Micromodem](INFO): Nmea in: $SNTTA,0.079230,,,,003415.85*41

2021-01-28T00:34:15.424Z,1611794055.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.979996 m, bearing: 278.380943 deg, deltaT: 4.424769 s, approachRate: 0.772920 m/s, LOS rate: 0.168873 deg/s, posRepo size: 4
2021-01-28T00:34:17.769Z,1611794057.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:18.554Z,1611794058.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:18.952Z,1611794058.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:19.793Z,1611794059.793 [Micromodem](INFO): Nmea in: $SNTTA,0.081685,,,,003420.30*44

2021-01-28T00:34:19.818Z,1611794059.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.640007 m, bearing: 275.070241 deg, deltaT: 4.504658 s, approachRate: 0.812495 m/s, LOS rate: -0.734951 deg/s, posRepo size: 4
2021-01-28T00:34:20.594Z,1611794060.594 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-28T00:34:22.245Z,1611794062.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:23.003Z,1611794063.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:23.415Z,1611794063.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:24.233Z,1611794064.233 [Micromodem](INFO): Nmea in: $SNTTA,0.084310,,,,003424.74*4C

2021-01-28T00:34:24.269Z,1611794064.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 296.507637 deg, deltaT: 4.395508 s, approachRate: 0.873618 m/s, LOS rate: 4.877115 deg/s, posRepo size: 4
2021-01-28T00:34:26.671Z,1611794066.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:27.438Z,1611794067.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:27.845Z,1611794067.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:28.685Z,1611794068.685 [Micromodem](INFO): Nmea in: $SNTTA,0.086621,,,,003429.18*4E

2021-01-28T00:34:28.710Z,1611794068.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.080002 m, bearing: 277.072416 deg, deltaT: 4.454982 s, approachRate: 0.808084 m/s, LOS rate: -4.362581 deg/s, posRepo size: 4
2021-01-28T00:34:31.098Z,1611794071.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:31.878Z,1611794071.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:32.280Z,1611794072.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:33.137Z,1611794073.137 [Micromodem](INFO): Nmea in: $SNTTA,0.089111,,,,003433.62*43

2021-01-28T00:34:33.176Z,1611794073.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.860001 m, bearing: 263.543860 deg, deltaT: 4.430744 s, approachRate: 0.853130 m/s, LOS rate: -3.053337 deg/s, posRepo size: 4
2021-01-28T00:34:35.225Z,1611794075.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:35.918Z,1611794075.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:36.320Z,1611794076.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:37.161Z,1611794077.161 [Micromodem](INFO): Nmea in: $SNTTA,0.091370,,,,003437.66*4F

2021-01-28T00:34:37.239Z,1611794077.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.220001 m, bearing: 257.933351 deg, deltaT: 4.064296 s, approachRate: 0.826712 m/s, LOS rate: -1.380438 deg/s, posRepo size: 4
2021-01-28T00:34:39.611Z,1611794079.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:40.382Z,1611794080.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:40.772Z,1611794080.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:41.601Z,1611794081.601 [Micromodem](INFO): Nmea in: $SNTTA,0.093896,,,,003442.12*4F

2021-01-28T00:34:41.633Z,1611794081.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 254.947439 deg, deltaT: 4.478471 s, approachRate: 0.830641 m/s, LOS rate: -0.666726 deg/s, posRepo size: 4
2021-01-28T00:34:44.038Z,1611794084.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:44.814Z,1611794084.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:45.265Z,1611794085.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:46.049Z,1611794086.049 [Micromodem](INFO): Nmea in: $SNTTA,0.096387,,,,003446.56*45

2021-01-28T00:34:46.087Z,1611794086.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.779999 m, bearing: 260.724932 deg, deltaT: 4.399860 s, approachRate: 0.872754 m/s, LOS rate: 1.313108 deg/s, posRepo size: 4
2021-01-28T00:34:48.507Z,1611794088.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:49.270Z,1611794089.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:49.664Z,1611794089.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:50.481Z,1611794090.481 [Micromodem](INFO): Nmea in: $SNTTA,0.098876,,,,003451.01*4A

2021-01-28T00:34:50.512Z,1611794090.512 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-01-28T00:34:50.534Z,1611794090.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 267.747104 deg, deltaT: 4.446665 s, approachRate: 0.823090 m/s, LOS rate: 1.579200 deg/s, posRepo size: 4
2021-01-28T00:34:52.918Z,1611794092.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:53.698Z,1611794093.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:54.100Z,1611794094.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:54.947Z,1611794094.947 [Micromodem](INFO): Nmea in: $SNTTA,0.101376,,,,003455.44*45

2021-01-28T00:34:54.967Z,1611794094.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.160004 m, bearing: 256.205887 deg, deltaT: 4.452518 s, approachRate: 0.835483 m/s, LOS rate: -2.592065 deg/s, posRepo size: 4
2021-01-28T00:34:54.968Z,1611794094.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.16 m. Resuming terminal guidance.
2021-01-28T00:34:54.968Z,1611794094.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-28T00:34:57.384Z,1611794097.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:34:58.146Z,1611794098.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:34:58.571Z,1611794098.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:34:59.385Z,1611794099.385 [Micromodem](INFO): Nmea in: $SNTTA,0.103996,,,,003459.89*4E

2021-01-28T00:34:59.431Z,1611794099.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.240005 m, bearing: 256.371123 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-28T00:34:59.432Z,1611794099.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 256.371123deg and heading rate command to 0 deg/s.
2021-01-28T00:35:00.253Z,1611794100.253 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:35:01.509Z,1611794101.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:02.197Z,1611794102.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:02.584Z,1611794102.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:03.429Z,1611794103.429 [Micromodem](INFO): Nmea in: $SNTTA,0.106264,,,,003503.94*4F

2021-01-28T00:35:03.491Z,1611794103.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.240005 m, bearing: 253.764641 deg, deltaT: 4.051947 s, approachRate: 0.000000 m/s, LOS rate: -0.643267 deg/s, posRepo size: 2
2021-01-28T00:35:03.497Z,1611794103.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.240005 m,
      bearing: 253.764641 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.643267 deg/s,
      cmd update: -2.573066 deg/s,
      cmd heading: 256.371123 deg,
      new cmd heading: 256.371123 deg.

2021-01-28T00:35:05.455Z,1611794105.455 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 47
2021-01-28T00:35:05.837Z,1611794105.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:06.622Z,1611794106.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:07.040Z,1611794107.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:07.873Z,1611794107.873 [Micromodem](INFO): Nmea in: $SNTTA,0.108784,,,,003508.36*49

2021-01-28T00:35:07.911Z,1611794107.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.559998 m, bearing: 276.188917 deg, deltaT: 4.469464 s, approachRate: 1.637779 m/s, LOS rate: 5.017218 deg/s, posRepo size: 3
2021-01-28T00:35:07.914Z,1611794107.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.559998 m,
      bearing: 276.188917 deg,
      approachRate: 1.637779 m/s,
      LOS rate: 5.017218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 244.909881 deg,
      new cmd heading: 243.779463 deg.

2021-01-28T00:35:10.291Z,1611794110.291 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:35:10.326Z,1611794110.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:11.067Z,1611794111.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:11.479Z,1611794111.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:12.332Z,1611794112.332 [Micromodem](INFO): Nmea in: $SNTTA,0.111260,,,,003512.81*49

2021-01-28T00:35:12.393Z,1611794112.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 244.270869 deg, deltaT: 4.428240 s, approachRate: 0.867164 m/s, LOS rate: -7.207841 deg/s, posRepo size: 4
2021-01-28T00:35:12.395Z,1611794112.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 244.270869 deg,
      approachRate: 0.867164 m/s,
      LOS rate: -7.207841 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 298.193146 deg,
      new cmd heading: 303.954190 deg.

2021-01-28T00:35:14.743Z,1611794114.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:15.524Z,1611794115.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:15.596Z,1611794115.596 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:35:15.916Z,1611794115.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:16.761Z,1611794116.761 [Micromodem](INFO): Nmea in: $SNTTA,0.113829,,,,003517.26*44

2021-01-28T00:35:16.783Z,1611794116.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 253.654292 deg, deltaT: 4.494443 s, approachRate: 0.000000 m/s, LOS rate: 2.087783 deg/s, posRepo size: 4
2021-01-28T00:35:16.785Z,1611794116.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 253.654292 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.087783 deg/s,
      cmd update: 8.351133 deg/s,
      cmd heading: 244.211625 deg,
      new cmd heading: 239.744529 deg.

2021-01-28T00:35:19.200Z,1611794119.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:19.954Z,1611794119.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:20.388Z,1611794120.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:20.484Z,1611794120.484 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-01-28T00:35:20.484Z,1611794120.484 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-01-28T00:35:20.484Z,1611794120.484 [RDI_PathfinderUp](ERROR): Communications Fault
2021-01-28T00:35:20.619Z,1611794120.619 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-01-28T00:35:20.848Z,1611794120.848 [RDI_PathfinderUp](INFO): Powering down
2021-01-28T00:35:21.193Z,1611794121.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003521.70*5C

2021-01-28T00:35:21.226Z,1611794121.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.720001 m, bearing: 277.032746 deg, deltaT: 4.456672 s, approachRate: 1.642479 m/s, LOS rate: 5.245720 deg/s, posRepo size: 4
2021-01-28T00:35:21.228Z,1611794121.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.720001 m,
      bearing: 277.032746 deg,
      approachRate: 1.642479 m/s,
      LOS rate: 5.245720 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.429627 deg,
      new cmd heading: 284.426072 deg.

2021-01-28T00:35:21.684Z,1611794121.684 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-01-28T00:35:21.684Z,1611794121.684 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-01-28T00:35:23.615Z,1611794123.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:24.422Z,1611794124.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:24.808Z,1611794124.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:25.640Z,1611794125.640 [Micromodem](INFO): Nmea in: $SNTTA,0.118778,,,,003526.16*45

2021-01-28T00:35:26.065Z,1611794126.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.380005 m, bearing: 281.596569 deg, deltaT: 4.831773 s, approachRate: 0.757487 m/s, LOS rate: 0.944544 deg/s, posRepo size: 4
2021-01-28T00:35:26.066Z,1611794126.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.380005 m,
      bearing: 281.596569 deg,
      approachRate: 0.757487 m/s,
      LOS rate: 0.944544 deg/s,
      cmd update: 3.778177 deg/s,
      cmd heading: 339.362401 deg,
      new cmd heading: 343.769989 deg.

2021-01-28T00:35:28.476Z,1611794128.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:29.263Z,1611794129.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:29.660Z,1611794129.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:30.504Z,1611794130.504 [Micromodem](INFO): Nmea in: $SNTTA,0.121604,,,,003531.00*44

2021-01-28T00:35:30.915Z,1611794130.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.460007 m, bearing: 280.562642 deg, deltaT: 4.848946 s, approachRate: 0.841420 m/s, LOS rate: -0.213227 deg/s, posRepo size: 4
2021-01-28T00:35:30.917Z,1611794130.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.460007 m,
      bearing: 280.562642 deg,
      approachRate: 0.841420 m/s,
      LOS rate: -0.213227 deg/s,
      cmd update: -0.852908 deg/s,
      cmd heading: 357.621956 deg,
      new cmd heading: 359.084291 deg.

2021-01-28T00:35:33.318Z,1611794133.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:34.102Z,1611794134.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:34.519Z,1611794134.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:35.365Z,1611794135.365 [Micromodem](INFO): Nmea in: $SNTTA,0.123955,,,,003535.84*45

2021-01-28T00:35:35.417Z,1611794135.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 337.922817 deg, deltaT: 4.436022 s, approachRate: 0.825061 m/s, LOS rate: 12.930544 deg/s, posRepo size: 4
2021-01-28T00:35:35.418Z,1611794135.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.930544 deg/s. Setting heading cmd to target bearing of 337.922817deg and heading rate command to 0 deg/s.
2021-01-28T00:35:37.775Z,1611794137.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:38.542Z,1611794138.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:38.948Z,1611794138.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:39.781Z,1611794139.781 [Micromodem](INFO): Nmea in: $SNTTA,0.125523,,,,003540.29*4B

2021-01-28T00:35:39.807Z,1611794139.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 11.019397 deg, deltaT: 4.451929 s, approachRate: 0.000000 m/s, LOS rate: 7.434209 deg/s, posRepo size: 4
2021-01-28T00:35:39.811Z,1611794139.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.119995 m,
      bearing: 11.019397 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.434209 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 337.922817 deg,
      new cmd heading: 337.922817 deg.

2021-01-28T00:35:42.205Z,1611794142.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:42.996Z,1611794142.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:43.416Z,1611794143.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:44.214Z,1611794144.214 [Micromodem](INFO): Nmea in: $SNTTA,0.127047,,,,003544.74*42

2021-01-28T00:35:45.044Z,1611794145.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:46.625Z,1611794146.625 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:35:47.898Z,1611794147.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:48.649Z,1611794148.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:49.056Z,1611794149.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:49.901Z,1611794149.901 [Micromodem](INFO): Nmea in: $SNTTA,0.128380,,,,003550.39*49

2021-01-28T00:35:50.382Z,1611794150.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.299988 m, bearing: 10.934800 deg, deltaT: 10.488985 s, approachRate: 0.589189 m/s, LOS rate: -0.008065 deg/s, posRepo size: 4
2021-01-28T00:35:50.390Z,1611794150.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.299988 m,
      bearing: 10.934800 deg,
      approachRate: 0.589189 m/s,
      LOS rate: -0.008065 deg/s,
      cmd update: -0.032261 deg/s,
      cmd heading: 103.789608 deg,
      new cmd heading: 109.273008 deg.

2021-01-28T00:35:52.723Z,1611794152.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:53.495Z,1611794153.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:53.932Z,1611794153.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:54.744Z,1611794154.744 [Micromodem](INFO): Nmea in: $SNTTA,0.128747,,,,003555.24*4F

2021-01-28T00:35:55.148Z,1611794155.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.080002 m, bearing: 57.913973 deg, deltaT: 4.852710 s, approachRate: 0.160738 m/s, LOS rate: 9.681019 deg/s, posRepo size: 4
2021-01-28T00:35:55.150Z,1611794155.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.080002 m,
      bearing: 57.913973 deg,
      approachRate: 0.160738 m/s,
      LOS rate: 9.681019 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 103.633053 deg,
      new cmd heading: 103.621113 deg.

2021-01-28T00:35:57.570Z,1611794157.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:35:58.348Z,1611794158.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:35:58.753Z,1611794158.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:35:59.576Z,1611794159.576 [Micromodem](INFO): Nmea in: $SNTTA,0.128097,,,,003600.09*49

2021-01-28T00:36:00.028Z,1611794160.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.999985 m, bearing: 101.862388 deg, deltaT: 4.839715 s, approachRate: -0.223157 m/s, LOS rate: 9.080786 deg/s, posRepo size: 4
2021-01-28T00:36:00.030Z,1611794160.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.999985 m,
      bearing: 101.862388 deg,
      approachRate: -0.223157 m/s,
      LOS rate: 9.080786 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 161.712143 deg,
      new cmd heading: 166.584431 deg.

2021-01-28T00:36:02.441Z,1611794162.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:03.196Z,1611794163.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:03.596Z,1611794163.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:04.445Z,1611794164.445 [Micromodem](INFO): Nmea in: $SNTTA,0.127350,,,,003604.94*4E

2021-01-28T00:36:04.844Z,1611794164.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.979980 m, bearing: 95.948694 deg, deltaT: 4.855975 s, approachRate: -0.210051 m/s, LOS rate: -1.217818 deg/s, posRepo size: 4
2021-01-28T00:36:04.867Z,1611794164.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.979980 m,
      bearing: 95.948694 deg,
      approachRate: -0.210051 m/s,
      LOS rate: -1.217818 deg/s,
      cmd update: -4.871272 deg/s,
      cmd heading: 219.984253 deg,
      new cmd heading: 224.405953 deg.

2021-01-28T00:36:07.271Z,1611794167.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:08.046Z,1611794168.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:08.464Z,1611794168.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:09.290Z,1611794169.290 [Micromodem](INFO): Nmea in: $SNTTA,0.125794,,,,003609.79*4E

2021-01-28T00:36:09.316Z,1611794169.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.639984 m, bearing: 98.073983 deg, deltaT: 4.524228 s, approachRate: -0.517214 m/s, LOS rate: 0.469757 deg/s, posRepo size: 4
2021-01-28T00:36:09.318Z,1611794169.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.639984 m,
      bearing: 98.073983 deg,
      approachRate: -0.517214 m/s,
      LOS rate: 0.469757 deg/s,
      cmd update: 1.879029 deg/s,
      cmd heading: 197.957510 deg,
      new cmd heading: 196.399419 deg.

2021-01-28T00:36:11.712Z,1611794171.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:12.486Z,1611794172.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:12.920Z,1611794172.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:13.720Z,1611794173.720 [Micromodem](INFO): Nmea in: $SNTTA,0.124253,,,,003614.23*42

2021-01-28T00:36:14.151Z,1611794174.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 97.608499 deg, deltaT: 4.791569 s, approachRate: -0.488351 m/s, LOS rate: -0.097147 deg/s, posRepo size: 4
2021-01-28T00:36:14.153Z,1611794174.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.300018 m,
      bearing: 97.608499 deg,
      approachRate: -0.488351 m/s,
      LOS rate: -0.097147 deg/s,
      cmd update: -0.388586 deg/s,
      cmd heading: 206.960887 deg,
      new cmd heading: 207.645770 deg.

2021-01-28T00:36:16.584Z,1611794176.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:17.336Z,1611794177.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:17.745Z,1611794177.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:18.560Z,1611794178.560 [Micromodem](INFO): Nmea in: $SNTTA,0.122460,,,,003619.08*46

2021-01-28T00:36:19.004Z,1611794179.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 94.517319 deg, deltaT: 4.834786 s, approachRate: -0.570868 m/s, LOS rate: -0.639362 deg/s, posRepo size: 4
2021-01-28T00:36:19.007Z,1611794179.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.539993 m,
      bearing: 94.517319 deg,
      approachRate: -0.570868 m/s,
      LOS rate: -0.639362 deg/s,
      cmd update: -2.557449 deg/s,
      cmd heading: 205.082759 deg,
      new cmd heading: 204.933757 deg.

2021-01-28T00:36:21.429Z,1611794181.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:22.178Z,1611794182.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:22.592Z,1611794182.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:23.442Z,1611794183.442 [Micromodem](INFO): Nmea in: $SNTTA,0.120909,,0.129935,,003623.92*57

2021-01-28T00:36:23.822Z,1611794183.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 90.902154 deg, deltaT: 4.844278 s, approachRate: -0.483043 m/s, LOS rate: -0.746275 deg/s, posRepo size: 4
2021-01-28T00:36:23.824Z,1611794183.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.199997 m,
      bearing: 90.902154 deg,
      approachRate: -0.483043 m/s,
      LOS rate: -0.746275 deg/s,
      cmd update: -2.985101 deg/s,
      cmd heading: 192.683400 deg,
      new cmd heading: 191.779942 deg.

2021-01-28T00:36:26.263Z,1611794186.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:27.034Z,1611794187.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:27.432Z,1611794187.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:28.264Z,1611794188.264 [Micromodem](INFO): Nmea in: $SNTTA,0.119452,,,,003628.78*4A

2021-01-28T00:36:28.689Z,1611794188.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 85.328993 deg, deltaT: 4.837336 s, approachRate: -0.458931 m/s, LOS rate: -1.152114 deg/s, posRepo size: 4
2021-01-28T00:36:28.691Z,1611794188.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.979996 m,
      bearing: 85.328993 deg,
      approachRate: -0.458931 m/s,
      LOS rate: -1.152114 deg/s,
      cmd update: -4.608455 deg/s,
      cmd heading: 178.247647 deg,
      new cmd heading: 177.100422 deg.

2021-01-28T00:36:31.091Z,1611794191.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:31.888Z,1611794191.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:32.286Z,1611794192.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:33.109Z,1611794193.109 [Micromodem](INFO): Nmea in: $SNTTA,0.118748,,,,003633.63*43

2021-01-28T00:36:33.133Z,1611794193.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 100.661846 deg, deltaT: 4.423369 s, approachRate: 0.000000 m/s, LOS rate: 3.466329 deg/s, posRepo size: 4
2021-01-28T00:36:33.135Z,1611794193.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.979996 m,
      bearing: 100.661846 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.466329 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 157.864086 deg,
      new cmd heading: 155.996579 deg.

2021-01-28T00:36:35.545Z,1611794195.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:36.322Z,1611794196.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:36.733Z,1611794196.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:37.566Z,1611794197.566 [Micromodem](INFO): Nmea in: $SNTTA,0.118435,,0.129085,,003638.07*5A

2021-01-28T00:36:37.592Z,1611794197.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 147.878609 deg, deltaT: 4.466069 s, approachRate: 0.000000 m/s, LOS rate: 10.572332 deg/s, posRepo size: 4
2021-01-28T00:36:37.594Z,1611794197.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.979996 m,
      bearing: 147.878609 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.572332 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 211.379456 deg,
      new cmd heading: 216.232856 deg.

2021-01-28T00:36:40.002Z,1611794200.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:40.770Z,1611794200.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:41.168Z,1611794201.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:42.024Z,1611794202.024 [Micromodem](INFO): Nmea in: $SNTTA,0.118274,,,,003642.51*4E

2021-01-28T00:36:42.458Z,1611794202.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.240005 m, bearing: 136.604289 deg, deltaT: 4.854027 s, approachRate: -0.358463 m/s, LOS rate: -2.322673 deg/s, posRepo size: 4
2021-01-28T00:36:42.460Z,1611794202.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.240005 m,
      bearing: 136.604289 deg,
      approachRate: -0.358463 m/s,
      LOS rate: -2.322673 deg/s,
      cmd update: -9.290694 deg/s,
      cmd heading: 269.720409 deg,
      new cmd heading: 274.634313 deg.

2021-01-28T00:36:44.838Z,1611794204.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:45.623Z,1611794205.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:46.018Z,1611794206.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:46.838Z,1611794206.838 [Micromodem](INFO): Nmea in: $SNTTA,0.118479,,,,003647.37*40

2021-01-28T00:36:47.268Z,1611794207.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 119.887374 deg, deltaT: 4.852551 s, approachRate: 0.098916 m/s, LOS rate: -3.444975 deg/s, posRepo size: 4
2021-01-28T00:36:47.270Z,1611794207.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.720001 m,
      bearing: 119.887374 deg,
      approachRate: 0.098916 m/s,
      LOS rate: -3.444975 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 224.707805 deg,
      new cmd heading: 221.229834 deg.

2021-01-28T00:36:49.696Z,1611794209.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:50.454Z,1611794210.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:50.894Z,1611794210.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:51.701Z,1611794211.701 [Micromodem](INFO): Nmea in: $SNTTA,0.119489,,,,003652.20*4C

2021-01-28T00:36:51.746Z,1611794211.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 164.463729 deg, deltaT: 4.400740 s, approachRate: 0.000000 m/s, LOS rate: 10.129287 deg/s, posRepo size: 4
2021-01-28T00:36:51.748Z,1611794211.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.720001 m,
      bearing: 164.463729 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.129287 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 172.007967 deg,
      new cmd heading: 166.477083 deg.

2021-01-28T00:36:54.153Z,1611794214.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:54.930Z,1611794214.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:36:55.346Z,1611794215.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:36:56.125Z,1611794216.125 [Micromodem](INFO): Nmea in: $SNTTA,0.120933,,,,003656.67*4D

2021-01-28T00:36:56.561Z,1611794216.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.440002 m, bearing: 186.154934 deg, deltaT: 4.890036 s, approachRate: 0.760731 m/s, LOS rate: 4.435797 deg/s, posRepo size: 4
2021-01-28T00:36:56.563Z,1611794216.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.440002 m,
      bearing: 186.154934 deg,
      approachRate: 0.760731 m/s,
      LOS rate: 4.435797 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 230.893769 deg,
      new cmd heading: 235.319957 deg.

2021-01-28T00:36:58.971Z,1611794218.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:36:59.758Z,1611794219.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:00.156Z,1611794220.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:00.986Z,1611794220.986 [Micromodem](INFO): Nmea in: $SNTTA,0.122184,,,,003701.50*4C

2021-01-28T00:37:01.413Z,1611794221.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.360001 m, bearing: 142.260901 deg, deltaT: 4.856521 s, approachRate: 0.395344 m/s, LOS rate: -9.038164 deg/s, posRepo size: 4
2021-01-28T00:37:01.415Z,1611794221.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 142.260901 deg,
      approachRate: 0.395344 m/s,
      LOS rate: -9.038164 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 289.144927 deg,
      new cmd heading: 293.538187 deg.

2021-01-28T00:37:03.814Z,1611794223.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:04.607Z,1611794224.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:05.010Z,1611794225.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:05.838Z,1611794225.838 [Micromodem](INFO): Nmea in: $SNTTA,0.123678,,,,003706.35*4D

2021-01-28T00:37:06.263Z,1611794226.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.640015 m, bearing: 168.751817 deg, deltaT: 4.846490 s, approachRate: 0.470446 m/s, LOS rate: 5.466000 deg/s, posRepo size: 4
2021-01-28T00:37:06.265Z,1611794226.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.640015 m,
      bearing: 168.751817 deg,
      approachRate: 0.470446 m/s,
      LOS rate: 5.466000 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 231.008970 deg,
      new cmd heading: 226.546338 deg.

2021-01-28T00:37:08.664Z,1611794228.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:09.446Z,1611794229.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:09.875Z,1611794229.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:10.701Z,1611794230.701 [Micromodem](INFO): Nmea in: $SNTTA,0.125706,,,,003711.19*4B

2021-01-28T00:37:10.725Z,1611794230.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.640015 m, bearing: 249.961510 deg, deltaT: 4.470675 s, approachRate: 0.000000 m/s, LOS rate: 18.164973 deg/s, posRepo size: 4
2021-01-28T00:37:10.726Z,1611794230.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.164973 deg/s. Setting heading cmd to target bearing of 249.961510deg and heading rate command to 0 deg/s.
2021-01-28T00:37:13.140Z,1611794233.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:13.518Z,1611794233.518 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-01-28T00:37:13.926Z,1611794233.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:14.297Z,1611794234.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:15.130Z,1611794235.130 [Micromodem](INFO): Nmea in: $SNTTA,0.128192,,,,003715.67*40

2021-01-28T00:37:15.545Z,1611794235.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 266.740552 deg, deltaT: 4.803789 s, approachRate: 1.411382 m/s, LOS rate: 3.492877 deg/s, posRepo size: 4
2021-01-28T00:37:15.547Z,1611794235.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.419998 m,
      bearing: 266.740552 deg,
      approachRate: 1.411382 m/s,
      LOS rate: 3.492877 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 249.961510 deg,
      new cmd heading: 249.961510 deg.

2021-01-28T00:37:17.963Z,1611794237.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:18.742Z,1611794238.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:19.140Z,1611794239.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:19.976Z,1611794239.976 [Micromodem](INFO): Nmea in: $SNTTA,0.130709,,,,003720.49*47

2021-01-28T00:37:20.422Z,1611794240.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.019989 m, bearing: 251.451420 deg, deltaT: 4.874132 s, approachRate: 0.738591 m/s, LOS rate: -3.136791 deg/s, posRepo size: 4
2021-01-28T00:37:20.425Z,1611794240.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.019989 m,
      bearing: 251.451420 deg,
      approachRate: 0.738591 m/s,
      LOS rate: -3.136791 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 308.402100 deg,
      new cmd heading: 312.990132 deg.

2021-01-28T00:37:22.798Z,1611794242.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:23.586Z,1611794243.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:23.994Z,1611794243.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:24.837Z,1611794244.837 [Micromodem](INFO): Nmea in: $SNTTA,0.133293,,,,003725.33*4A

2021-01-28T00:37:24.887Z,1611794244.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.019989 m, bearing: 261.930679 deg, deltaT: 4.434336 s, approachRate: 0.000000 m/s, LOS rate: 2.363208 deg/s, posRepo size: 4
2021-01-28T00:37:24.893Z,1611794244.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.019989 m,
      bearing: 261.930679 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.363208 deg/s,
      cmd update: 9.452832 deg/s,
      cmd heading: 255.189334 deg,
      new cmd heading: 250.237738 deg.

2021-01-28T00:37:27.258Z,1611794247.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:28.042Z,1611794248.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:28.444Z,1611794248.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:29.264Z,1611794249.264 [Micromodem](INFO): Nmea in: $SNTTA,0.135737,,,,003729.79*45

2021-01-28T00:37:29.689Z,1611794249.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.879990 m, bearing: 243.526133 deg, deltaT: 4.843428 s, approachRate: 1.622818 m/s, LOS rate: -3.799901 deg/s, posRepo size: 4
2021-01-28T00:37:29.691Z,1611794249.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.879990 m,
      bearing: 243.526133 deg,
      approachRate: 1.622818 m/s,
      LOS rate: -3.799901 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.973239 deg,
      new cmd heading: 304.479701 deg.

2021-01-28T00:37:32.134Z,1611794252.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:32.915Z,1611794252.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:33.301Z,1611794253.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:34.105Z,1611794254.105 [Micromodem](INFO): Nmea in: $SNTTA,0.138571,,,,003734.66*4A

2021-01-28T00:37:34.550Z,1611794254.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.019989 m, bearing: 297.775757 deg, deltaT: 4.837286 s, approachRate: 0.855852 m/s, LOS rate: 11.214889 deg/s, posRepo size: 4
2021-01-28T00:37:34.552Z,1611794254.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.019989 m,
      bearing: 297.775757 deg,
      approachRate: 0.855852 m/s,
      LOS rate: 11.214889 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 242.877421 deg,
      new cmd heading: 238.191973 deg.

2021-01-28T00:37:36.968Z,1611794256.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:37.750Z,1611794257.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:38.158Z,1611794258.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:38.176Z,1611794258.176 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:37:38.997Z,1611794258.997 [Micromodem](INFO): Nmea in: $SNTTA,0.141092,,,,003739.49*4C

2021-01-28T00:37:39.413Z,1611794259.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.739990 m, bearing: 239.221283 deg, deltaT: 4.868816 s, approachRate: 0.764046 m/s, LOS rate: -12.026430 deg/s, posRepo size: 4
2021-01-28T00:37:39.414Z,1611794259.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.026430 deg/s. Setting heading cmd to target bearing of 239.221283deg and heading rate command to 0 deg/s.
2021-01-28T00:37:41.825Z,1611794261.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:42.602Z,1611794262.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:43.003Z,1611794263.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:43.834Z,1611794263.834 [Micromodem](INFO): Nmea in: $SNTTA,0.143911,,,,003744.34*4C

2021-01-28T00:37:44.280Z,1611794264.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.119995 m, bearing: 273.039981 deg, deltaT: 4.898160 s, approachRate: 0.894214 m/s, LOS rate: 6.904368 deg/s, posRepo size: 4
2021-01-28T00:37:44.282Z,1611794264.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.119995 m,
      bearing: 273.039981 deg,
      approachRate: 0.894214 m/s,
      LOS rate: 6.904368 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 239.221283 deg,
      new cmd heading: 239.221283 deg.

2021-01-28T00:37:46.677Z,1611794266.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:47.442Z,1611794267.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:47.884Z,1611794267.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:48.682Z,1611794268.682 [Micromodem](INFO): Nmea in: $SNTTA,0.146706,,,,003749.18*42

2021-01-28T00:37:49.499Z,1611794269.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:50.685Z,1611794270.685 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:37:51.096Z,1611794271.096 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:37:52.337Z,1611794272.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:53.102Z,1611794273.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:53.505Z,1611794273.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:54.341Z,1611794274.341 [Micromodem](INFO): Nmea in: $SNTTA,0.149800,,,,003754.84*4D

2021-01-28T00:37:54.761Z,1611794274.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.939987 m, bearing: 226.483882 deg, deltaT: 10.476197 s, approachRate: 0.841908 m/s, LOS rate: -4.443989 deg/s, posRepo size: 4
2021-01-28T00:37:54.763Z,1611794274.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.939987 m,
      bearing: 226.483882 deg,
      approachRate: 0.841908 m/s,
      LOS rate: -4.443989 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 4.935651 deg,
      new cmd heading: 9.284692 deg.

2021-01-28T00:37:57.166Z,1611794277.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:37:57.950Z,1611794277.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:37:58.374Z,1611794278.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:37:59.193Z,1611794279.193 [Micromodem](INFO): Nmea in: $SNTTA,0.152527,,,,003759.69*41

2021-01-28T00:38:00.009Z,1611794280.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:00.443Z,1611794280.443 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:38:01.589Z,1611794281.589 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:38:02.809Z,1611794282.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:03.614Z,1611794283.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:04.019Z,1611794284.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:04.850Z,1611794284.850 [Micromodem](INFO): Nmea in: $SNTTA,0.155666,,,,003805.35*4F

2021-01-28T00:38:05.260Z,1611794285.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.819977 m, bearing: 281.981519 deg, deltaT: 10.511130 s, approachRate: 0.844818 m/s, LOS rate: 5.279892 deg/s, posRepo size: 4
2021-01-28T00:38:05.262Z,1611794285.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.819977 m,
      bearing: 281.981519 deg,
      approachRate: 0.844818 m/s,
      LOS rate: 5.279892 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 238.801920 deg,
      new cmd heading: 234.593496 deg.

2021-01-28T00:38:07.667Z,1611794287.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:08.458Z,1611794288.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:08.888Z,1611794288.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:09.701Z,1611794289.701 [Micromodem](INFO): Nmea in: $SNTTA,0.158129,,,,003810.20*4E

2021-01-28T00:38:10.132Z,1611794290.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.299988 m, bearing: 273.529351 deg, deltaT: 4.813351 s, approachRate: 0.722991 m/s, LOS rate: -1.755984 deg/s, posRepo size: 4
2021-01-28T00:38:10.134Z,1611794290.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.299988 m,
      bearing: 273.529351 deg,
      approachRate: 0.722991 m/s,
      LOS rate: -1.755984 deg/s,
      cmd update: -7.023936 deg/s,
      cmd heading: 296.608898 deg,
      new cmd heading: 301.469090 deg.

2021-01-28T00:38:10.501Z,1611794290.501 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 95
2021-01-28T00:38:12.544Z,1611794292.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:13.310Z,1611794293.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:13.708Z,1611794293.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:14.536Z,1611794294.536 [Micromodem](INFO): Nmea in: $SNTTA,0.160547,,,0.159504,003815.05*59

2021-01-28T00:38:14.998Z,1611794294.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.259979 m, bearing: 277.345705 deg, deltaT: 4.881339 s, approachRate: 0.811251 m/s, LOS rate: 0.781825 deg/s, posRepo size: 4
2021-01-28T00:38:15.005Z,1611794295.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.259979 m,
      bearing: 277.345705 deg,
      approachRate: 0.811251 m/s,
      LOS rate: 0.781825 deg/s,
      cmd update: 3.127301 deg/s,
      cmd heading: 262.366540 deg,
      new cmd heading: 259.620771 deg.

2021-01-28T00:38:15.748Z,1611794295.748 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-28T00:38:17.411Z,1611794297.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:18.150Z,1611794298.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:18.560Z,1611794298.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:19.408Z,1611794299.408 [Micromodem](INFO): Nmea in: $SNTTA,0.163195,,,,003819.89*4B

2021-01-28T00:38:19.811Z,1611794299.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.099991 m, bearing: 221.528252 deg, deltaT: 4.848921 s, approachRate: 0.791931 m/s, LOS rate: -11.511314 deg/s, posRepo size: 4
2021-01-28T00:38:19.812Z,1611794299.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.511314 deg/s. Setting heading cmd to target bearing of 221.528252deg and heading rate command to 0 deg/s.
2021-01-28T00:38:22.226Z,1611794302.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:22.996Z,1611794302.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:23.424Z,1611794303.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:24.251Z,1611794304.251 [Micromodem](INFO): Nmea in: $SNTTA,0.165881,,,,003824.74*4D

2021-01-28T00:38:24.663Z,1611794304.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.239975 m, bearing: 271.694243 deg, deltaT: 4.818454 s, approachRate: 0.859193 m/s, LOS rate: 10.411221 deg/s, posRepo size: 4
2021-01-28T00:38:24.665Z,1611794304.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.239975 m,
      bearing: 271.694243 deg,
      approachRate: 0.859193 m/s,
      LOS rate: 10.411221 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 221.528252 deg,
      new cmd heading: 221.528252 deg.

2021-01-28T00:38:25.472Z,1611794305.472 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-01-28T00:38:25.472Z,1611794305.472 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-01-28T00:38:25.472Z,1611794305.472 [RDI_Pathfinder](ERROR): Communications Fault
2021-01-28T00:38:25.631Z,1611794305.631 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-01-28T00:38:25.908Z,1611794305.908 [RDI_Pathfinder](INFO): Powering down
2021-01-28T00:38:26.711Z,1611794306.711 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-01-28T00:38:26.712Z,1611794306.712 [RDI_Pathfinder] No Fault, FailCount= 1
2021-01-28T00:38:27.077Z,1611794307.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:27.852Z,1611794307.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:28.263Z,1611794308.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:29.065Z,1611794309.065 [Micromodem](INFO): Nmea in: $SNTTA,0.168709,,,,003829.63*44

2021-01-28T00:38:29.499Z,1611794309.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.139984 m, bearing: 228.441168 deg, deltaT: 4.861904 s, approachRate: 0.802157 m/s, LOS rate: -8.896324 deg/s, posRepo size: 4
2021-01-28T00:38:29.521Z,1611794309.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.139984 m,
      bearing: 228.441168 deg,
      approachRate: 0.802157 m/s,
      LOS rate: -8.896324 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 279.823210 deg,
      new cmd heading: 284.210554 deg.

2021-01-28T00:38:31.929Z,1611794311.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:32.698Z,1611794312.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:33.116Z,1611794313.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:34.006Z,1611794314.006 [Micromodem](INFO): Nmea in: $SNTTA,0.171201,,,,003834.44*48

2021-01-28T00:38:34.343Z,1611794314.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.979980 m, bearing: 210.147231 deg, deltaT: 4.919929 s, approachRate: 0.780498 m/s, LOS rate: -3.718334 deg/s, posRepo size: 4
2021-01-28T00:38:34.345Z,1611794314.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.979980 m,
      bearing: 210.147231 deg,
      approachRate: 0.780498 m/s,
      LOS rate: -3.718334 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 221.024180 deg,
      new cmd heading: 217.307792 deg.

2021-01-28T00:38:36.765Z,1611794316.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:37.538Z,1611794317.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:37.959Z,1611794317.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:38.783Z,1611794318.783 [Micromodem](INFO): Nmea in: $SNTTA,0.173717,,0.174873,,003839.28*5F

2021-01-28T00:38:39.188Z,1611794319.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.639984 m, bearing: 230.444381 deg, deltaT: 4.740201 s, approachRate: 0.772120 m/s, LOS rate: 4.281918 deg/s, posRepo size: 4
2021-01-28T00:38:39.190Z,1611794319.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.639984 m,
      bearing: 230.444381 deg,
      approachRate: 0.772120 m/s,
      LOS rate: 4.281918 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 163.854535 deg,
      new cmd heading: 159.173239 deg.

2021-01-28T00:38:41.598Z,1611794321.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:42.397Z,1611794322.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:42.796Z,1611794322.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:43.620Z,1611794323.620 [Micromodem](INFO): Nmea in: $SNTTA,0.176163,,,,003844.14*4A

2021-01-28T00:38:44.066Z,1611794324.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.419983 m, bearing: 237.882429 deg, deltaT: 4.857084 s, approachRate: 0.778244 m/s, LOS rate: 1.531382 deg/s, posRepo size: 4
2021-01-28T00:38:44.072Z,1611794324.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.419983 m,
      bearing: 237.882429 deg,
      approachRate: 0.778244 m/s,
      LOS rate: 1.531382 deg/s,
      cmd update: 6.125526 deg/s,
      cmd heading: 221.900217 deg,
      new cmd heading: 227.075361 deg.

2021-01-28T00:38:46.466Z,1611794326.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:47.238Z,1611794327.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:47.648Z,1611794327.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:48.486Z,1611794328.486 [Micromodem](INFO): Nmea in: $SNTTA,0.178216,,,,003848.98*4D

2021-01-28T00:38:48.992Z,1611794328.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.720001 m, bearing: 164.033796 deg, deltaT: 4.852471 s, approachRate: 0.680070 m/s, LOS rate: -15.218768 deg/s, posRepo size: 4
2021-01-28T00:38:48.993Z,1611794328.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.218768 deg/s. Setting heading cmd to target bearing of 164.033796deg and heading rate command to 0 deg/s.
2021-01-28T00:38:51.325Z,1611794331.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:52.086Z,1611794332.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:52.501Z,1611794332.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:53.319Z,1611794333.319 [Micromodem](INFO): Nmea in: $SNTTA,0.180285,,,,003853.83*40

2021-01-28T00:38:53.758Z,1611794333.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.600006 m, bearing: 245.332854 deg, deltaT: 4.848799 s, approachRate: 0.593963 m/s, LOS rate: 16.766844 deg/s, posRepo size: 4
2021-01-28T00:38:53.759Z,1611794333.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.766844 deg/s. Setting heading cmd to target bearing of 245.332854deg and heading rate command to 0 deg/s.
2021-01-28T00:38:54.974Z,1611794334.974 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T00:38:56.172Z,1611794336.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:38:56.966Z,1611794336.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:38:57.352Z,1611794337.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:38:58.169Z,1611794338.169 [Micromodem](INFO): Nmea in: $SNTTA,0.182681,,,,003858.71*44

2021-01-28T00:38:58.177Z,1611794338.177 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:38:58.587Z,1611794338.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.140015 m, bearing: 202.119491 deg, deltaT: 4.883669 s, approachRate: 0.724867 m/s, LOS rate: -8.848545 deg/s, posRepo size: 4
2021-01-28T00:38:58.589Z,1611794338.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.140015 m,
      bearing: 202.119491 deg,
      approachRate: 0.724867 m/s,
      LOS rate: -8.848545 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 245.332854 deg,
      new cmd heading: 245.332854 deg.

2021-01-28T00:39:01.037Z,1611794341.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:01.782Z,1611794341.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:02.180Z,1611794342.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:03.024Z,1611794343.024 [Micromodem](INFO): Nmea in: $SNTTA,0.185154,,,,003903.52*42

2021-01-28T00:39:03.446Z,1611794343.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.860016 m, bearing: 214.756502 deg, deltaT: 4.818055 s, approachRate: 0.772096 m/s, LOS rate: 2.622845 deg/s, posRepo size: 4
2021-01-28T00:39:03.448Z,1611794343.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.860016 m,
      bearing: 214.756502 deg,
      approachRate: 0.772096 m/s,
      LOS rate: 2.622845 deg/s,
      cmd update: 10.491380 deg/s,
      cmd heading: 187.465372 deg,
      new cmd heading: 182.802628 deg.

2021-01-28T00:39:05.913Z,1611794345.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:06.638Z,1611794346.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:07.048Z,1611794347.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:07.903Z,1611794347.903 [Micromodem](INFO): Nmea in: $SNTTA,0.187718,,,,003908.38*49

2021-01-28T00:39:08.290Z,1611794348.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.760010 m, bearing: 214.466697 deg, deltaT: 4.909022 s, approachRate: 0.794454 m/s, LOS rate: -0.059035 deg/s, posRepo size: 4
2021-01-28T00:39:08.292Z,1611794348.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.760010 m,
      bearing: 214.466697 deg,
      approachRate: 0.794454 m/s,
      LOS rate: -0.059035 deg/s,
      cmd update: -0.236141 deg/s,
      cmd heading: 238.966737 deg,
      new cmd heading: 242.363070 deg.

2021-01-28T00:39:10.702Z,1611794350.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:11.482Z,1611794351.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:11.917Z,1611794351.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:12.719Z,1611794352.719 [Micromodem](INFO): Nmea in: $SNTTA,0.190147,,,,003913.22*42

2021-01-28T00:39:13.154Z,1611794353.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.419983 m, bearing: 225.117844 deg, deltaT: 4.767274 s, approachRate: 0.767729 m/s, LOS rate: 2.234222 deg/s, posRepo size: 4
2021-01-28T00:39:13.156Z,1611794353.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.419983 m,
      bearing: 225.117844 deg,
      approachRate: 0.767729 m/s,
      LOS rate: 2.234222 deg/s,
      cmd update: 8.936887 deg/s,
      cmd heading: 237.840993 deg,
      new cmd heading: 237.741792 deg.

2021-01-28T00:39:15.538Z,1611794355.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:16.342Z,1611794356.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:16.732Z,1611794356.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:17.556Z,1611794357.556 [Micromodem](INFO): Nmea in: $SNTTA,0.192488,,,,003918.08*45

2021-01-28T00:39:18.040Z,1611794358.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.899994 m, bearing: 204.630951 deg, deltaT: 4.836597 s, approachRate: 0.719516 m/s, LOS rate: -4.235807 deg/s, posRepo size: 4
2021-01-28T00:39:18.042Z,1611794358.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.899994 m,
      bearing: 204.630951 deg,
      approachRate: 0.719516 m/s,
      LOS rate: -4.235807 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.064173 deg,
      new cmd heading: 285.224419 deg.

2021-01-28T00:39:20.433Z,1611794360.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:21.182Z,1611794361.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:21.584Z,1611794361.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:22.410Z,1611794362.410 [Micromodem](INFO): Nmea in: $SNTTA,0.195028,,,,003922.92*46

2021-01-28T00:39:23.251Z,1611794363.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:24.813Z,1611794364.813 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:39:26.084Z,1611794366.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:26.834Z,1611794366.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:27.236Z,1611794367.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:28.078Z,1611794368.078 [Micromodem](INFO): Nmea in: $SNTTA,0.198054,,,,003928.58*4C

2021-01-28T00:39:28.936Z,1611794368.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:30.489Z,1611794370.489 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:39:31.694Z,1611794371.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:32.494Z,1611794372.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:32.924Z,1611794372.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:33.716Z,1611794373.716 [Micromodem](INFO): Nmea in: $SNTTA,0.200944,,,,003934.23*47

2021-01-28T00:39:34.168Z,1611794374.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.619995 m, bearing: 245.515685 deg, deltaT: 16.180495 s, approachRate: 0.786132 m/s, LOS rate: 2.526791 deg/s, posRepo size: 4
2021-01-28T00:39:34.170Z,1611794374.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.619995 m,
      bearing: 245.515685 deg,
      approachRate: 0.786132 m/s,
      LOS rate: 2.526791 deg/s,
      cmd update: 10.107165 deg/s,
      cmd heading: 87.137304 deg,
      new cmd heading: 81.893112 deg.

2021-01-28T00:39:36.542Z,1611794376.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:37.350Z,1611794377.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:37.744Z,1611794377.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:38.563Z,1611794378.563 [Micromodem](INFO): Nmea in: $SNTTA,0.203221,,,,003939.09*49

2021-01-28T00:39:39.038Z,1611794379.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.979980 m, bearing: 204.473625 deg, deltaT: 4.827687 s, approachRate: 0.695982 m/s, LOS rate: -8.501392 deg/s, posRepo size: 4
2021-01-28T00:39:39.044Z,1611794379.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.979980 m,
      bearing: 204.473625 deg,
      approachRate: 0.695982 m/s,
      LOS rate: -8.501392 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 136.133103 deg,
      new cmd heading: 140.778821 deg.

2021-01-28T00:39:41.405Z,1611794381.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:42.178Z,1611794382.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:42.598Z,1611794382.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:43.428Z,1611794383.428 [Micromodem](INFO): Nmea in: $SNTTA,0.204756,,,,003943.92*44

2021-01-28T00:39:43.846Z,1611794383.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.320007 m, bearing: 157.316073 deg, deltaT: 4.864148 s, approachRate: 0.481076 m/s, LOS rate: -9.694925 deg/s, posRepo size: 4
2021-01-28T00:39:43.848Z,1611794383.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.320007 m,
      bearing: 157.316073 deg,
      approachRate: 0.481076 m/s,
      LOS rate: -9.694925 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.763866 deg,
      new cmd heading: 72.922250 deg.

2021-01-28T00:39:46.285Z,1611794386.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:47.043Z,1611794387.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:47.440Z,1611794387.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:48.272Z,1611794388.272 [Micromodem](INFO): Nmea in: $SNTTA,0.205657,,,,003948.78*4A

2021-01-28T00:39:48.679Z,1611794388.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.459991 m, bearing: 98.320430 deg, deltaT: 4.898079 s, approachRate: 0.232741 m/s, LOS rate: -12.044649 deg/s, posRepo size: 4
2021-01-28T00:39:48.680Z,1611794388.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.044649 deg/s. Setting heading cmd to target bearing of 98.320430deg and heading rate command to 0 deg/s.
2021-01-28T00:39:51.131Z,1611794391.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:51.906Z,1611794391.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:52.303Z,1611794392.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:53.102Z,1611794393.102 [Micromodem](INFO): Nmea in: $SNTTA,0.205547,,,,003953.65*4E

2021-01-28T00:39:53.519Z,1611794393.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.099976 m, bearing: 71.501432 deg, deltaT: 4.826199 s, approachRate: -0.074596 m/s, LOS rate: -5.556960 deg/s, posRepo size: 4
2021-01-28T00:39:53.521Z,1611794393.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.099976 m,
      bearing: 71.501432 deg,
      approachRate: -0.074596 m/s,
      LOS rate: -5.556960 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 98.320430 deg,
      new cmd heading: 98.320430 deg.

2021-01-28T00:39:56.027Z,1611794396.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:39:56.738Z,1611794396.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:39:57.136Z,1611794397.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:39:57.163Z,1611794397.163 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:39:57.972Z,1611794397.972 [Micromodem](INFO): Nmea in: $SNTTA,0.204613,,,,003958.48*49

2021-01-28T00:39:58.387Z,1611794398.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.779968 m, bearing: 71.957860 deg, deltaT: 4.899635 s, approachRate: -0.269409 m/s, LOS rate: 0.093155 deg/s, posRepo size: 4
2021-01-28T00:39:58.390Z,1611794398.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.779968 m,
      bearing: 71.957860 deg,
      approachRate: -0.269409 m/s,
      LOS rate: 0.093155 deg/s,
      cmd update: 0.372622 deg/s,
      cmd heading: 39.534275 deg,
      new cmd heading: 35.638823 deg.

2021-01-28T00:40:00.797Z,1611794400.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:01.578Z,1611794401.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:01.994Z,1611794401.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:02.816Z,1611794402.816 [Micromodem](INFO): Nmea in: $SNTTA,0.203333,,,,004003.32*44

2021-01-28T00:40:03.266Z,1611794403.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.919983 m, bearing: 70.254452 deg, deltaT: 4.809664 s, approachRate: -0.386718 m/s, LOS rate: -0.354164 deg/s, posRepo size: 4
2021-01-28T00:40:03.273Z,1611794403.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.919983 m,
      bearing: 70.254452 deg,
      approachRate: -0.386718 m/s,
      LOS rate: -0.354164 deg/s,
      cmd update: -1.416655 deg/s,
      cmd heading: 41.319832 deg,
      new cmd heading: 41.473234 deg.

2021-01-28T00:40:05.638Z,1611794405.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:06.430Z,1611794406.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:06.836Z,1611794406.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:07.656Z,1611794407.656 [Micromodem](INFO): Nmea in: $SNTTA,0.201499,,,,004008.17*4D

2021-01-28T00:40:08.105Z,1611794408.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.220001 m, bearing: 72.846583 deg, deltaT: 4.794209 s, approachRate: -0.563176 m/s, LOS rate: 0.540680 deg/s, posRepo size: 4
2021-01-28T00:40:08.107Z,1611794408.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.220001 m,
      bearing: 72.846583 deg,
      approachRate: -0.563176 m/s,
      LOS rate: 0.540680 deg/s,
      cmd update: 2.162719 deg/s,
      cmd heading: 34.497142 deg,
      new cmd heading: 33.881504 deg.

2021-01-28T00:40:10.505Z,1611794410.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:11.290Z,1611794411.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:11.690Z,1611794411.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:12.504Z,1611794412.504 [Micromodem](INFO): Nmea in: $SNTTA,0.200006,,,,004013.03*41

2021-01-28T00:40:12.958Z,1611794412.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.940002 m, bearing: 74.390910 deg, deltaT: 4.885501 s, approachRate: -0.466687 m/s, LOS rate: 0.316104 deg/s, posRepo size: 4
2021-01-28T00:40:12.960Z,1611794412.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.940002 m,
      bearing: 74.390910 deg,
      approachRate: -0.466687 m/s,
      LOS rate: 0.316104 deg/s,
      cmd update: 1.264416 deg/s,
      cmd heading: 45.063055 deg,
      new cmd heading: 45.932237 deg.

2021-01-28T00:40:15.337Z,1611794415.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:16.122Z,1611794416.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:16.552Z,1611794416.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:17.352Z,1611794417.352 [Micromodem](INFO): Nmea in: $SNTTA,0.198491,,,,004017.86*40

2021-01-28T00:40:17.763Z,1611794417.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.660004 m, bearing: 78.077723 deg, deltaT: 4.834837 s, approachRate: -0.471577 m/s, LOS rate: 0.762552 deg/s, posRepo size: 4
2021-01-28T00:40:17.766Z,1611794417.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.660004 m,
      bearing: 78.077723 deg,
      approachRate: -0.471577 m/s,
      LOS rate: 0.762552 deg/s,
      cmd update: 3.050207 deg/s,
      cmd heading: 51.176303 deg,
      new cmd heading: 51.647153 deg.

2021-01-28T00:40:20.209Z,1611794420.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:20.966Z,1611794420.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:21.382Z,1611794421.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:22.211Z,1611794422.211 [Micromodem](INFO): Nmea in: $SNTTA,0.196877,,,,004022.71*44

2021-01-28T00:40:22.644Z,1611794422.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.139984 m, bearing: 78.860155 deg, deltaT: 4.877986 s, approachRate: -0.516611 m/s, LOS rate: 0.160401 deg/s, posRepo size: 4
2021-01-28T00:40:22.646Z,1611794422.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.139984 m,
      bearing: 78.860155 deg,
      approachRate: -0.516611 m/s,
      LOS rate: 0.160401 deg/s,
      cmd update: 0.641603 deg/s,
      cmd heading: 65.981339 deg,
      new cmd heading: 67.185155 deg.

2021-01-28T00:40:25.066Z,1611794425.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:25.822Z,1611794425.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:26.224Z,1611794426.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:27.048Z,1611794427.048 [Micromodem](INFO): Nmea in: $SNTTA,0.195041,,,,004027.56*4A

2021-01-28T00:40:27.463Z,1611794427.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.260010 m, bearing: 78.616058 deg, deltaT: 4.850418 s, approachRate: -0.593758 m/s, LOS rate: -0.050325 deg/s, posRepo size: 4
2021-01-28T00:40:27.465Z,1611794427.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.260010 m,
      bearing: 78.616058 deg,
      approachRate: -0.593758 m/s,
      LOS rate: -0.050325 deg/s,
      cmd update: -0.201300 deg/s,
      cmd heading: 69.104941 deg,
      new cmd heading: 69.329358 deg.

2021-01-28T00:40:29.930Z,1611794429.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:30.674Z,1611794430.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:31.072Z,1611794431.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:31.922Z,1611794431.922 [Micromodem](INFO): Nmea in: $SNTTA,0.192696,,,,004032.41*43

2021-01-28T00:40:32.326Z,1611794432.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.139984 m, bearing: 77.826188 deg, deltaT: 4.873017 s, approachRate: -0.640266 m/s, LOS rate: -0.162091 deg/s, posRepo size: 4
2021-01-28T00:40:32.338Z,1611794432.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.139984 m,
      bearing: 77.826188 deg,
      approachRate: -0.640266 m/s,
      LOS rate: -0.162091 deg/s,
      cmd update: -0.648363 deg/s,
      cmd heading: 68.123950 deg,
      new cmd heading: 68.055537 deg.

2021-01-28T00:40:34.738Z,1611794434.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:35.522Z,1611794435.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:35.964Z,1611794435.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:36.764Z,1611794436.764 [Micromodem](INFO): Nmea in: $SNTTA,0.190533,,,,004037.26*49

2021-01-28T00:40:37.194Z,1611794437.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.839996 m, bearing: 76.974080 deg, deltaT: 4.786298 s, approachRate: -0.689466 m/s, LOS rate: -0.178031 deg/s, posRepo size: 4
2021-01-28T00:40:37.196Z,1611794437.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.839996 m,
      bearing: 76.974080 deg,
      approachRate: -0.689466 m/s,
      LOS rate: -0.178031 deg/s,
      cmd update: -0.712122 deg/s,
      cmd heading: 65.016909 deg,
      new cmd heading: 64.747781 deg.

2021-01-28T00:40:39.569Z,1611794439.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:40.370Z,1611794440.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:40.773Z,1611794440.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:41.181Z,1611794441.181 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:40:41.596Z,1611794441.596 [Micromodem](INFO): Nmea in: $SNTTA,0.188635,,,,004042.11*43

2021-01-28T00:40:42.047Z,1611794442.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.660004 m, bearing: 76.652857 deg, deltaT: 4.832105 s, approachRate: -0.658097 m/s, LOS rate: -0.066477 deg/s, posRepo size: 4
2021-01-28T00:40:42.065Z,1611794442.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.660004 m,
      bearing: 76.652857 deg,
      approachRate: -0.658097 m/s,
      LOS rate: -0.066477 deg/s,
      cmd update: -0.265908 deg/s,
      cmd heading: 61.575860 deg,
      new cmd heading: 61.265523 deg.

2021-01-28T00:40:44.421Z,1611794444.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:45.222Z,1611794445.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:45.630Z,1611794445.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:46.464Z,1611794446.464 [Micromodem](INFO): Nmea in: $SNTTA,0.186660,,,,004046.96*46

2021-01-28T00:40:46.921Z,1611794446.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.839996 m, bearing: 76.450355 deg, deltaT: 4.867719 s, approachRate: -0.579328 m/s, LOS rate: -0.041601 deg/s, posRepo size: 4
2021-01-28T00:40:46.923Z,1611794446.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.839996 m,
      bearing: 76.450355 deg,
      approachRate: -0.579328 m/s,
      LOS rate: -0.041601 deg/s,
      cmd update: -0.166404 deg/s,
      cmd heading: 60.281470 deg,
      new cmd heading: 60.165247 deg.

2021-01-28T00:40:49.299Z,1611794449.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:50.068Z,1611794450.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:50.502Z,1611794450.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:51.304Z,1611794451.304 [Micromodem](INFO): Nmea in: $SNTTA,0.185165,,,,004051.81*47

2021-01-28T00:40:51.715Z,1611794451.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.899994 m, bearing: 77.584283 deg, deltaT: 4.897294 s, approachRate: -0.600332 m/s, LOS rate: 0.231542 deg/s, posRepo size: 4
2021-01-28T00:40:51.717Z,1611794451.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.899994 m,
      bearing: 77.584283 deg,
      approachRate: -0.600332 m/s,
      LOS rate: 0.231542 deg/s,
      cmd update: 0.926167 deg/s,
      cmd heading: 59.469207 deg,
      new cmd heading: 59.410052 deg.

2021-01-28T00:40:54.161Z,1611794454.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:54.958Z,1611794454.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:40:55.348Z,1611794455.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:40:56.176Z,1611794456.176 [Micromodem](INFO): Nmea in: $SNTTA,0.182785,,,,004056.70*41

2021-01-28T00:40:56.594Z,1611794456.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.660004 m, bearing: 77.956665 deg, deltaT: 4.858103 s, approachRate: -0.666925 m/s, LOS rate: 0.076652 deg/s, posRepo size: 4
2021-01-28T00:40:56.596Z,1611794456.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.660004 m,
      bearing: 77.956665 deg,
      approachRate: -0.666925 m/s,
      LOS rate: 0.076652 deg/s,
      cmd update: 0.306607 deg/s,
      cmd heading: 63.961215 deg,
      new cmd heading: 64.316973 deg.

2021-01-28T00:40:58.198Z,1611794458.198 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:40:59.055Z,1611794459.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:40:59.794Z,1611794459.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:00.204Z,1611794460.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:01.046Z,1611794461.046 [Micromodem](INFO): Nmea in: $SNTTA,0.180798,,,,004101.53*4D

2021-01-28T00:41:01.436Z,1611794461.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.959991 m, bearing: 78.515463 deg, deltaT: 4.888259 s, approachRate: -0.552346 m/s, LOS rate: 0.114314 deg/s, posRepo size: 4
2021-01-28T00:41:01.438Z,1611794461.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.959991 m,
      bearing: 78.515463 deg,
      approachRate: -0.552346 m/s,
      LOS rate: 0.114314 deg/s,
      cmd update: 0.457257 deg/s,
      cmd heading: 65.466110 deg,
      new cmd heading: 65.563400 deg.

2021-01-28T00:41:03.921Z,1611794463.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:04.634Z,1611794464.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:05.052Z,1611794465.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:05.889Z,1611794465.889 [Micromodem](INFO): Nmea in: $SNTTA,0.178687,,,,004106.37*40

2021-01-28T00:41:06.682Z,1611794466.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:08.281Z,1611794468.281 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:41:09.525Z,1611794469.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:10.302Z,1611794470.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:10.708Z,1611794470.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:11.524Z,1611794471.524 [Micromodem](INFO): Nmea in: $SNTTA,0.176089,,,,004112.04*43

2021-01-28T00:41:12.009Z,1611794472.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.059998 m, bearing: 77.786142 deg, deltaT: 10.416296 s, approachRate: -0.662423 m/s, LOS rate: -0.070017 deg/s, posRepo size: 4
2021-01-28T00:41:12.032Z,1611794472.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.059998 m,
      bearing: 77.786142 deg,
      approachRate: -0.662423 m/s,
      LOS rate: -0.070017 deg/s,
      cmd update: -0.280069 deg/s,
      cmd heading: 70.230889 deg,
      new cmd heading: 70.445434 deg.

2021-01-28T00:41:14.361Z,1611794474.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:15.142Z,1611794475.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:15.560Z,1611794475.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:16.372Z,1611794476.372 [Micromodem](INFO): Nmea in: $SNTTA,0.174316,,,,004116.88*44

2021-01-28T00:41:16.806Z,1611794476.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.239990 m, bearing: 76.863821 deg, deltaT: 4.848044 s, approachRate: -0.581679 m/s, LOS rate: -0.190246 deg/s, posRepo size: 4
2021-01-28T00:41:16.808Z,1611794476.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.239990 m,
      bearing: 76.863821 deg,
      approachRate: -0.581679 m/s,
      LOS rate: -0.190246 deg/s,
      cmd update: -0.760984 deg/s,
      cmd heading: 68.873094 deg,
      new cmd heading: 68.755534 deg.

2021-01-28T00:41:19.219Z,1611794479.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:19.992Z,1611794479.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:20.404Z,1611794480.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:21.224Z,1611794481.224 [Micromodem](INFO): Nmea in: $SNTTA,0.172249,,,,004121.73*49

2021-01-28T00:41:21.629Z,1611794481.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.179993 m, bearing: 76.274573 deg, deltaT: 4.893171 s, approachRate: -0.625361 m/s, LOS rate: -0.120422 deg/s, posRepo size: 4
2021-01-28T00:41:21.630Z,1611794481.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.179993 m,
      bearing: 76.274573 deg,
      approachRate: -0.625361 m/s,
      LOS rate: -0.120422 deg/s,
      cmd update: -0.481689 deg/s,
      cmd heading: 65.149501 deg,
      new cmd heading: 64.884170 deg.

2021-01-28T00:41:24.089Z,1611794484.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:24.860Z,1611794484.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:25.240Z,1611794485.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:26.062Z,1611794486.062 [Micromodem](INFO): Nmea in: $SNTTA,0.170127,,,,004126.61*44

2021-01-28T00:41:26.505Z,1611794486.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.999985 m, bearing: 76.164034 deg, deltaT: 4.840352 s, approachRate: -0.656979 m/s, LOS rate: -0.022837 deg/s, posRepo size: 4
2021-01-28T00:41:26.508Z,1611794486.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.999985 m,
      bearing: 76.164034 deg,
      approachRate: -0.656979 m/s,
      LOS rate: -0.022837 deg/s,
      cmd update: -0.091349 deg/s,
      cmd heading: 62.818039 deg,
      new cmd heading: 62.632858 deg.

2021-01-28T00:41:28.970Z,1611794488.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:29.700Z,1611794489.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:30.097Z,1611794490.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:30.960Z,1611794490.960 [Micromodem](INFO): Nmea in: $SNTTA,0.168124,,,,004131.44*4F

2021-01-28T00:41:31.331Z,1611794491.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.059982 m, bearing: 76.042033 deg, deltaT: 4.923570 s, approachRate: -0.597128 m/s, LOS rate: -0.024779 deg/s, posRepo size: 4
2021-01-28T00:41:31.334Z,1611794491.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.059982 m,
      bearing: 76.042033 deg,
      approachRate: -0.597128 m/s,
      LOS rate: -0.024779 deg/s,
      cmd update: -0.099116 deg/s,
      cmd heading: 62.368629 deg,
      new cmd heading: 62.341968 deg.

2021-01-28T00:41:33.738Z,1611794493.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:34.534Z,1611794494.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:34.970Z,1611794494.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:35.772Z,1611794495.772 [Micromodem](INFO): Nmea in: $SNTTA,0.166000,,,,004136.27*44

2021-01-28T00:41:36.198Z,1611794496.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.879990 m, bearing: 75.906221 deg, deltaT: 4.762391 s, approachRate: -0.667730 m/s, LOS rate: -0.028518 deg/s, posRepo size: 4
2021-01-28T00:41:36.201Z,1611794496.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.879990 m,
      bearing: 75.906221 deg,
      approachRate: -0.667730 m/s,
      LOS rate: -0.028518 deg/s,
      cmd update: -0.114070 deg/s,
      cmd heading: 61.896203 deg,
      new cmd heading: 61.857307 deg.

2021-01-28T00:41:38.601Z,1611794498.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:39.390Z,1611794499.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:39.788Z,1611794499.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:40.624Z,1611794500.624 [Micromodem](INFO): Nmea in: $SNTTA,0.164033,,,,004141.13*41

2021-01-28T00:41:41.056Z,1611794501.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.939987 m, bearing: 76.227595 deg, deltaT: 4.832565 s, approachRate: -0.608373 m/s, LOS rate: 0.066502 deg/s, posRepo size: 4
2021-01-28T00:41:41.058Z,1611794501.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.939987 m,
      bearing: 76.227595 deg,
      approachRate: -0.608373 m/s,
      LOS rate: 0.066502 deg/s,
      cmd update: 0.266007 deg/s,
      cmd heading: 61.344969 deg,
      new cmd heading: 61.297368 deg.

2021-01-28T00:41:43.470Z,1611794503.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:44.230Z,1611794504.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:44.643Z,1611794504.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:45.477Z,1611794505.477 [Micromodem](INFO): Nmea in: $SNTTA,0.162045,,,,004145.97*4E

2021-01-28T00:41:45.950Z,1611794505.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.879990 m, bearing: 75.692689 deg, deltaT: 4.853292 s, approachRate: -0.630499 m/s, LOS rate: -0.110215 deg/s, posRepo size: 4
2021-01-28T00:41:45.951Z,1611794505.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.879990 m,
      bearing: 75.692689 deg,
      approachRate: -0.630499 m/s,
      LOS rate: -0.110215 deg/s,
      cmd update: -0.440861 deg/s,
      cmd heading: 62.636026 deg,
      new cmd heading: 62.757764 deg.

2021-01-28T00:41:48.297Z,1611794508.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:49.078Z,1611794509.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:49.488Z,1611794509.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:50.325Z,1611794510.325 [Micromodem](INFO): Nmea in: $SNTTA,0.160072,,,,004150.82*48

2021-01-28T00:41:50.723Z,1611794510.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.119995 m, bearing: 73.881255 deg, deltaT: 4.847970 s, approachRate: -0.569309 m/s, LOS rate: -0.373648 deg/s, posRepo size: 4
2021-01-28T00:41:50.726Z,1611794510.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.119995 m,
      bearing: 73.881255 deg,
      approachRate: -0.569309 m/s,
      LOS rate: -0.373648 deg/s,
      cmd update: -1.494592 deg/s,
      cmd heading: 60.498781 deg,
      new cmd heading: 60.329648 deg.

2021-01-28T00:41:53.169Z,1611794513.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:53.970Z,1611794513.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:54.340Z,1611794514.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:41:55.169Z,1611794515.169 [Micromodem](INFO): Nmea in: $SNTTA,0.158020,,,,004155.71*4D

2021-01-28T00:41:55.591Z,1611794515.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.999985 m, bearing: 74.298306 deg, deltaT: 4.887586 s, approachRate: -0.638354 m/s, LOS rate: 0.085329 deg/s, posRepo size: 4
2021-01-28T00:41:55.597Z,1611794515.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.999985 m,
      bearing: 74.298306 deg,
      approachRate: -0.638354 m/s,
      LOS rate: 0.085329 deg/s,
      cmd update: 0.341315 deg/s,
      cmd heading: 53.193757 deg,
      new cmd heading: 52.650100 deg.

2021-01-28T00:41:58.047Z,1611794518.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:41:58.775Z,1611794518.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:41:59.186Z,1611794519.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:00.031Z,1611794520.030 [Micromodem](INFO): Nmea in: $SNTTA,0.156028,,,,004200.51*4A

2021-01-28T00:42:00.451Z,1611794520.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.119995 m, bearing: 72.944877 deg, deltaT: 4.861105 s, approachRate: -0.592456 m/s, LOS rate: -0.278420 deg/s, posRepo size: 4
2021-01-28T00:42:00.458Z,1611794520.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.119995 m,
      bearing: 72.944877 deg,
      approachRate: -0.592456 m/s,
      LOS rate: -0.278420 deg/s,
      cmd update: -1.113680 deg/s,
      cmd heading: 54.851551 deg,
      new cmd heading: 54.976744 deg.

2021-01-28T00:42:02.834Z,1611794522.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:03.630Z,1611794523.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:04.040Z,1611794524.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:04.852Z,1611794524.852 [Micromodem](INFO): Nmea in: $SNTTA,0.154105,,,,004205.37*43

2021-01-28T00:42:05.280Z,1611794525.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.299988 m, bearing: 74.790018 deg, deltaT: 4.838112 s, approachRate: -0.582874 m/s, LOS rate: 0.381376 deg/s, posRepo size: 4
2021-01-28T00:42:05.282Z,1611794525.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.299988 m,
      bearing: 74.790018 deg,
      approachRate: -0.582874 m/s,
      LOS rate: 0.381376 deg/s,
      cmd update: 1.525505 deg/s,
      cmd heading: 49.463420 deg,
      new cmd heading: 49.065758 deg.

2021-01-28T00:42:07.678Z,1611794527.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:08.470Z,1611794528.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:08.914Z,1611794528.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:09.711Z,1611794529.711 [Micromodem](INFO): Nmea in: $SNTTA,0.152201,,,,004210.21*41

2021-01-28T00:42:10.143Z,1611794530.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.059982 m, bearing: 75.568428 deg, deltaT: 4.798863 s, approachRate: -0.675161 m/s, LOS rate: 0.162207 deg/s, posRepo size: 4
2021-01-28T00:42:10.145Z,1611794530.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.059982 m,
      bearing: 75.568428 deg,
      approachRate: -0.675161 m/s,
      LOS rate: 0.162207 deg/s,
      cmd update: 0.648828 deg/s,
      cmd heading: 56.790279 deg,
      new cmd heading: 57.426372 deg.

2021-01-28T00:42:12.540Z,1611794532.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:13.343Z,1611794533.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:13.724Z,1611794533.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:14.537Z,1611794534.537 [Micromodem](INFO): Nmea in: $SNTTA,0.150286,,,,004215.08*42

2021-01-28T00:42:15.027Z,1611794535.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.179993 m, bearing: 75.294605 deg, deltaT: 4.860737 s, approachRate: -0.592501 m/s, LOS rate: -0.056333 deg/s, posRepo size: 4
2021-01-28T00:42:15.045Z,1611794535.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.179993 m,
      bearing: 75.294605 deg,
      approachRate: -0.592501 m/s,
      LOS rate: -0.056333 deg/s,
      cmd update: -0.225334 deg/s,
      cmd heading: 59.936488 deg,
      new cmd heading: 60.229774 deg.

2021-01-28T00:42:17.411Z,1611794537.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:18.166Z,1611794538.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:18.579Z,1611794538.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:19.417Z,1611794539.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004219.91*58

2021-01-28T00:42:19.818Z,1611794539.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.180008 m, bearing: 75.093429 deg, deltaT: 4.845751 s, approachRate: -0.619096 m/s, LOS rate: -0.041516 deg/s, posRepo size: 4
2021-01-28T00:42:19.847Z,1611794539.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.180008 m,
      bearing: 75.093429 deg,
      approachRate: -0.619096 m/s,
      LOS rate: -0.041516 deg/s,
      cmd update: -0.166064 deg/s,
      cmd heading: 58.841950 deg,
      new cmd heading: 58.754892 deg.

2021-01-28T00:42:22.257Z,1611794542.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:23.022Z,1611794543.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:23.416Z,1611794543.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:24.248Z,1611794544.248 [Micromodem](INFO): Nmea in: $SNTTA,0.146403,,,,004224.76*45

2021-01-28T00:42:24.657Z,1611794544.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.360001 m, bearing: 74.277494 deg, deltaT: 4.879848 s, approachRate: -0.577888 m/s, LOS rate: -0.167205 deg/s, posRepo size: 4
2021-01-28T00:42:24.659Z,1611794544.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.360001 m,
      bearing: 74.277494 deg,
      approachRate: -0.577888 m/s,
      LOS rate: -0.167205 deg/s,
      cmd update: -0.668820 deg/s,
      cmd heading: 58.031612 deg,
      new cmd heading: 57.974372 deg.

2021-01-28T00:42:27.126Z,1611794547.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:27.886Z,1611794547.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:28.272Z,1611794548.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:29.100Z,1611794549.100 [Micromodem](INFO): Nmea in: $SNTTA,0.144408,,,,004229.63*45

2021-01-28T00:42:29.515Z,1611794549.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.359985 m, bearing: 74.587093 deg, deltaT: 4.846695 s, approachRate: -0.618982 m/s, LOS rate: 0.063878 deg/s, posRepo size: 4
2021-01-28T00:42:29.517Z,1611794549.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.359985 m,
      bearing: 74.587093 deg,
      approachRate: -0.618982 m/s,
      LOS rate: 0.063878 deg/s,
      cmd update: 0.255513 deg/s,
      cmd heading: 54.792588 deg,
      new cmd heading: 54.551401 deg.

2021-01-28T00:42:31.980Z,1611794551.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:32.710Z,1611794552.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:33.120Z,1611794553.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:33.960Z,1611794553.960 [Micromodem](INFO): Nmea in: $SNTTA,0.142521,,,,004234.45*41

2021-01-28T00:42:34.369Z,1611794554.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.479996 m, bearing: 75.514647 deg, deltaT: 4.877845 s, approachRate: -0.590423 m/s, LOS rate: 0.190156 deg/s, posRepo size: 4
2021-01-28T00:42:34.371Z,1611794554.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.479996 m,
      bearing: 75.514647 deg,
      approachRate: -0.590423 m/s,
      LOS rate: 0.190156 deg/s,
      cmd update: 0.760626 deg/s,
      cmd heading: 56.039865 deg,
      new cmd heading: 56.125030 deg.

2021-01-28T00:42:36.762Z,1611794556.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:37.566Z,1611794557.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:37.968Z,1611794557.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:38.800Z,1611794558.800 [Micromodem](INFO): Nmea in: $SNTTA,0.140543,,,,004239.31*49

2021-01-28T00:42:39.232Z,1611794559.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.599991 m, bearing: 76.200562 deg, deltaT: 4.778251 s, approachRate: -0.602732 m/s, LOS rate: 0.143549 deg/s, posRepo size: 4
2021-01-28T00:42:39.234Z,1611794559.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.599991 m,
      bearing: 76.200562 deg,
      approachRate: -0.602732 m/s,
      LOS rate: 0.143549 deg/s,
      cmd update: 0.574197 deg/s,
      cmd heading: 59.674575 deg,
      new cmd heading: 59.991754 deg.

2021-01-28T00:42:41.634Z,1611794561.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:42.410Z,1611794562.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:42.814Z,1611794562.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:43.644Z,1611794563.644 [Micromodem](INFO): Nmea in: $SNTTA,0.138923,,,,004244.15*40

2021-01-28T00:42:44.087Z,1611794564.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.660004 m, bearing: 76.262621 deg, deltaT: 4.863972 s, approachRate: -0.604442 m/s, LOS rate: 0.012759 deg/s, posRepo size: 4
2021-01-28T00:42:44.089Z,1611794564.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.660004 m,
      bearing: 76.262621 deg,
      approachRate: -0.604442 m/s,
      LOS rate: 0.012759 deg/s,
      cmd update: 0.051036 deg/s,
      cmd heading: 62.467480 deg,
      new cmd heading: 62.702008 deg.

2021-01-28T00:42:46.466Z,1611794566.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:47.270Z,1611794567.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:47.664Z,1611794567.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:48.488Z,1611794568.488 [Micromodem](INFO): Nmea in: $SNTTA,0.136584,,,,004249.01*47

2021-01-28T00:42:48.954Z,1611794568.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.659988 m, bearing: 75.719101 deg, deltaT: 4.848449 s, approachRate: -0.618758 m/s, LOS rate: -0.112102 deg/s, posRepo size: 4
2021-01-28T00:42:48.956Z,1611794568.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.659988 m,
      bearing: 75.719101 deg,
      approachRate: -0.618758 m/s,
      LOS rate: -0.112102 deg/s,
      cmd update: -0.448407 deg/s,
      cmd heading: 62.713900 deg,
      new cmd heading: 62.736709 deg.

2021-01-28T00:42:51.353Z,1611794571.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:52.114Z,1611794572.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:52.508Z,1611794572.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:52.971Z,1611794572.971 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 89
2021-01-28T00:42:53.353Z,1611794573.353 [Micromodem](INFO): Nmea in: $SNTTA,0.134743,,,,004253.85*4B

2021-01-28T00:42:53.384Z,1611794573.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.659988 m, bearing: 75.345026 deg, deltaT: 4.507142 s, approachRate: 0.000000 m/s, LOS rate: -0.082996 deg/s, posRepo size: 4
2021-01-28T00:42:53.389Z,1611794573.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.659988 m,
      bearing: 75.345026 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.082996 deg/s,
      cmd update: -0.331985 deg/s,
      cmd heading: 60.685713 deg,
      new cmd heading: 60.527414 deg.

2021-01-28T00:42:55.769Z,1611794575.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:42:56.552Z,1611794576.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:42:56.980Z,1611794576.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:42:57.795Z,1611794577.795 [Micromodem](INFO): Nmea in: $SNTTA,0.132951,,,,004258.29*4D

2021-01-28T00:42:58.234Z,1611794578.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.259995 m, bearing: 75.066784 deg, deltaT: 4.776359 s, approachRate: -1.130567 m/s, LOS rate: -0.058254 deg/s, posRepo size: 4
2021-01-28T00:42:58.240Z,1611794578.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.259995 m,
      bearing: 75.066784 deg,
      approachRate: -1.130567 m/s,
      LOS rate: -0.058254 deg/s,
      cmd update: -0.233016 deg/s,
      cmd heading: 59.098667 deg,
      new cmd heading: 58.958190 deg.

2021-01-28T00:43:00.648Z,1611794580.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:01.398Z,1611794581.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:01.808Z,1611794581.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:02.628Z,1611794582.628 [Micromodem](INFO): Nmea in: $SNTTA,0.131064,,,,004303.14*40

2021-01-28T00:43:03.078Z,1611794583.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.319992 m, bearing: 76.316067 deg, deltaT: 4.832165 s, approachRate: -0.608423 m/s, LOS rate: 0.258535 deg/s, posRepo size: 4
2021-01-28T00:43:03.096Z,1611794583.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.319992 m,
      bearing: 76.316067 deg,
      approachRate: -0.608423 m/s,
      LOS rate: 0.258535 deg/s,
      cmd update: 1.034139 deg/s,
      cmd heading: 57.972696 deg,
      new cmd heading: 57.871311 deg.

2021-01-28T00:43:05.465Z,1611794585.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:06.242Z,1611794586.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:06.659Z,1611794586.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:07.493Z,1611794587.493 [Micromodem](INFO): Nmea in: $SNTTA,0.129201,,,,004307.98*48

2021-01-28T00:43:07.515Z,1611794587.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.319992 m, bearing: 75.809035 deg, deltaT: 4.487744 s, approachRate: 0.000000 m/s, LOS rate: -0.112982 deg/s, posRepo size: 4
2021-01-28T00:43:07.517Z,1611794587.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.319992 m,
      bearing: 75.809035 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.112982 deg/s,
      cmd update: -0.451926 deg/s,
      cmd heading: 62.596659 deg,
      new cmd heading: 63.011465 deg.

2021-01-28T00:43:09.964Z,1611794589.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:10.686Z,1611794590.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:11.104Z,1611794591.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:11.953Z,1611794591.953 [Micromodem](INFO): Nmea in: $SNTTA,0.127478,,,,004312.43*4C

2021-01-28T00:43:12.022Z,1611794592.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.319992 m, bearing: 78.198699 deg, deltaT: 4.413744 s, approachRate: 0.000000 m/s, LOS rate: 0.541414 deg/s, posRepo size: 4
2021-01-28T00:43:12.025Z,1611794592.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.319992 m,
      bearing: 78.198699 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.541414 deg/s,
      cmd update: 2.165658 deg/s,
      cmd heading: 60.595208 deg,
      new cmd heading: 60.378456 deg.

2021-01-28T00:43:14.358Z,1611794594.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:15.134Z,1611794595.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:15.540Z,1611794595.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:16.393Z,1611794596.393 [Micromodem](INFO): Nmea in: $SNTTA,0.125977,,0.135002,,004316.88*54

2021-01-28T00:43:16.433Z,1611794596.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.319992 m, bearing: 75.930974 deg, deltaT: 4.488228 s, approachRate: 0.000000 m/s, LOS rate: -0.505261 deg/s, posRepo size: 4
2021-01-28T00:43:16.435Z,1611794596.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.319992 m,
      bearing: 75.930974 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.505261 deg/s,
      cmd update: -2.021043 deg/s,
      cmd heading: 70.318268 deg,
      new cmd heading: 71.186051 deg.

2021-01-28T00:43:18.781Z,1611794598.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:19.578Z,1611794599.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:19.994Z,1611794599.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:20.808Z,1611794600.808 [Micromodem](INFO): Nmea in: $SNTTA,0.124089,,,,004321.32*43

2021-01-28T00:43:21.266Z,1611794601.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.939987 m, bearing: 76.957319 deg, deltaT: 4.790325 s, approachRate: -2.166869 m/s, LOS rate: 0.214254 deg/s, posRepo size: 4
2021-01-28T00:43:21.268Z,1611794601.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.939987 m,
      bearing: 76.957319 deg,
      approachRate: -2.166869 m/s,
      LOS rate: 0.214254 deg/s,
      cmd update: 0.857015 deg/s,
      cmd heading: 60.636833 deg,
      new cmd heading: 59.740872 deg.

2021-01-28T00:43:23.638Z,1611794603.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:24.430Z,1611794604.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:24.851Z,1611794604.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:25.697Z,1611794605.697 [Micromodem](INFO): Nmea in: $SNTTA,0.122156,,,,004326.17*46

2021-01-28T00:43:25.738Z,1611794605.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.939987 m, bearing: 76.633985 deg, deltaT: 4.493007 s, approachRate: 0.000000 m/s, LOS rate: -0.071964 deg/s, posRepo size: 4
2021-01-28T00:43:25.745Z,1611794605.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.939987 m,
      bearing: 76.633985 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.071964 deg/s,
      cmd update: -0.287856 deg/s,
      cmd heading: 64.477127 deg,
      new cmd heading: 64.849575 deg.

2021-01-28T00:43:28.116Z,1611794608.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:28.901Z,1611794608.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:29.276Z,1611794609.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:30.089Z,1611794610.089 [Micromodem](INFO): Nmea in: $SNTTA,0.120467,,,,004330.64*40

2021-01-28T00:43:30.526Z,1611794610.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.479996 m, bearing: 76.781032 deg, deltaT: 4.852277 s, approachRate: -1.125243 m/s, LOS rate: 0.030305 deg/s, posRepo size: 4
2021-01-28T00:43:30.545Z,1611794610.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.479996 m,
      bearing: 76.781032 deg,
      approachRate: -1.125243 m/s,
      LOS rate: 0.030305 deg/s,
      cmd update: 0.121219 deg/s,
      cmd heading: 63.078110 deg,
      new cmd heading: 62.974226 deg.

2021-01-28T00:43:33.008Z,1611794613.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:33.731Z,1611794613.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:34.116Z,1611794614.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:34.988Z,1611794614.988 [Micromodem](INFO): Nmea in: $SNTTA,0.118444,,,,004335.47*4E

2021-01-28T00:43:35.361Z,1611794615.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 76.848487 deg, deltaT: 4.883497 s, approachRate: -0.589739 m/s, LOS rate: 0.013813 deg/s, posRepo size: 4
2021-01-28T00:43:35.362Z,1611794615.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.600006 m,
      bearing: 76.848487 deg,
      approachRate: -0.589739 m/s,
      LOS rate: 0.013813 deg/s,
      cmd update: 0.055251 deg/s,
      cmd heading: 63.670096 deg,
      new cmd heading: 63.708004 deg.

2021-01-28T00:43:37.778Z,1611794617.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:38.566Z,1611794618.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:38.968Z,1611794618.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:39.809Z,1611794619.809 [Micromodem](INFO): Nmea in: $SNTTA,0.116510,,,,004340.31*43

2021-01-28T00:43:39.860Z,1611794619.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 77.033230 deg, deltaT: 4.378462 s, approachRate: 0.000000 m/s, LOS rate: 0.042194 deg/s, posRepo size: 4
2021-01-28T00:43:39.868Z,1611794619.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.600006 m,
      bearing: 77.033230 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.042194 deg/s,
      cmd update: 0.168774 deg/s,
      cmd heading: 63.912012 deg,
      new cmd heading: 63.935723 deg.

2021-01-28T00:43:42.259Z,1611794622.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:43.015Z,1611794623.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:43.435Z,1611794623.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:44.263Z,1611794624.263 [Micromodem](INFO): Nmea in: $SNTTA,0.114852,,,,004344.76*4D

2021-01-28T00:43:44.337Z,1611794624.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 76.849300 deg, deltaT: 4.495795 s, approachRate: 0.000000 m/s, LOS rate: -0.040912 deg/s, posRepo size: 4
2021-01-28T00:43:44.339Z,1611794624.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.600006 m,
      bearing: 76.849300 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.040912 deg/s,
      cmd update: -0.163646 deg/s,
      cmd heading: 64.668347 deg,
      new cmd heading: 64.740132 deg.

2021-01-28T00:43:46.678Z,1611794626.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:47.468Z,1611794627.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:47.899Z,1611794627.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:48.709Z,1611794628.709 [Micromodem](INFO): Nmea in: $SNTTA,0.113083,,,,004349.21*41

2021-01-28T00:43:48.735Z,1611794628.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 77.660214 deg, deltaT: 4.391888 s, approachRate: 0.000000 m/s, LOS rate: 0.184639 deg/s, posRepo size: 4
2021-01-28T00:43:48.757Z,1611794628.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.600006 m,
      bearing: 77.660214 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.184639 deg/s,
      cmd update: 0.738556 deg/s,
      cmd heading: 63.947272 deg,
      new cmd heading: 63.878382 deg.

2021-01-28T00:43:51.156Z,1611794631.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:51.942Z,1611794631.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:52.323Z,1611794632.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:53.126Z,1611794633.126 [Micromodem](INFO): Nmea in: $SNTTA,0.111244,,0.121925,,004353.69*5F

2021-01-28T00:43:53.563Z,1611794633.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.680008 m, bearing: 77.850373 deg, deltaT: 4.893085 s, approachRate: -2.231720 m/s, LOS rate: 0.038863 deg/s, posRepo size: 4
2021-01-28T00:43:53.565Z,1611794633.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.680008 m,
      bearing: 77.850373 deg,
      approachRate: -2.231720 m/s,
      LOS rate: 0.038863 deg/s,
      cmd update: 0.155451 deg/s,
      cmd heading: 67.558147 deg,
      new cmd heading: 67.824405 deg.

2021-01-28T00:43:56.024Z,1611794636.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:43:56.750Z,1611794636.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:43:57.160Z,1611794637.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:43:57.994Z,1611794637.994 [Micromodem](INFO): Nmea in: $SNTTA,0.109406,,,,004358.49*4D

2021-01-28T00:43:58.056Z,1611794638.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.860001 m, bearing: 77.395578 deg, deltaT: 4.374681 s, approachRate: -0.644620 m/s, LOS rate: -0.103961 deg/s, posRepo size: 4
2021-01-28T00:43:58.059Z,1611794638.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.860001 m,
      bearing: 77.395578 deg,
      approachRate: -0.644620 m/s,
      LOS rate: -0.103961 deg/s,
      cmd update: -0.415843 deg/s,
      cmd heading: 68.239287 deg,
      new cmd heading: 68.312347 deg.

2021-01-28T00:44:00.413Z,1611794640.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:01.198Z,1611794641.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:01.608Z,1611794641.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:02.449Z,1611794642.449 [Micromodem](INFO): Nmea in: $SNTTA,0.107563,,,,004402.94*49

2021-01-28T00:44:02.471Z,1611794642.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 77.799434 deg, deltaT: 4.487680 s, approachRate: -0.615016 m/s, LOS rate: 0.089992 deg/s, posRepo size: 4
2021-01-28T00:44:02.473Z,1611794642.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.100006 m,
      bearing: 77.799434 deg,
      approachRate: -0.615016 m/s,
      LOS rate: 0.089992 deg/s,
      cmd update: 0.359968 deg/s,
      cmd heading: 66.379310 deg,
      new cmd heading: 66.207093 deg.

2021-01-28T00:44:04.894Z,1611794644.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:05.665Z,1611794645.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:06.056Z,1611794646.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:06.887Z,1611794646.887 [Micromodem](INFO): Nmea in: $SNTTA,0.105756,,0.109692,,004407.40*58

2021-01-28T00:44:06.945Z,1611794646.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 76.851656 deg, deltaT: 4.390208 s, approachRate: 0.000000 m/s, LOS rate: -0.215884 deg/s, posRepo size: 4
2021-01-28T00:44:06.946Z,1611794646.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.100006 m,
      bearing: 76.851656 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.215884 deg/s,
      cmd update: -0.863538 deg/s,
      cmd heading: 67.964864 deg,
      new cmd heading: 68.138517 deg.

2021-01-28T00:44:09.311Z,1611794649.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:10.086Z,1611794650.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:10.488Z,1611794650.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:11.329Z,1611794651.329 [Micromodem](INFO): Nmea in: $SNTTA,0.104032,,,,004411.83*4F

2021-01-28T00:44:11.351Z,1611794651.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 78.155136 deg, deltaT: 4.525297 s, approachRate: -1.100483 m/s, LOS rate: 0.288043 deg/s, posRepo size: 4
2021-01-28T00:44:11.353Z,1611794651.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.119995 m,
      bearing: 78.155136 deg,
      approachRate: -1.100483 m/s,
      LOS rate: 0.288043 deg/s,
      cmd update: 1.152172 deg/s,
      cmd heading: 64.057676 deg,
      new cmd heading: 63.742665 deg.

2021-01-28T00:44:13.745Z,1611794653.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:14.526Z,1611794654.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:14.960Z,1611794654.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:15.778Z,1611794655.778 [Micromodem](INFO): Nmea in: $SNTTA,0.102316,,,,004416.27*45

2021-01-28T00:44:15.800Z,1611794655.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.300018 m, bearing: 78.324272 deg, deltaT: 4.378557 s, approachRate: -0.644042 m/s, LOS rate: 0.038628 deg/s, posRepo size: 4
2021-01-28T00:44:15.802Z,1611794655.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.300018 m,
      bearing: 78.324272 deg,
      approachRate: -0.644042 m/s,
      LOS rate: 0.038628 deg/s,
      cmd update: 0.154513 deg/s,
      cmd heading: 69.104944 deg,
      new cmd heading: 69.603088 deg.

2021-01-28T00:44:18.217Z,1611794658.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:18.970Z,1611794658.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:19.384Z,1611794659.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:20.213Z,1611794660.213 [Micromodem](INFO): Nmea in: $SNTTA,0.100499,,,,004420.71*41

2021-01-28T00:44:20.253Z,1611794660.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 77.907050 deg, deltaT: 4.440100 s, approachRate: -0.567556 m/s, LOS rate: -0.093967 deg/s, posRepo size: 4
2021-01-28T00:44:20.255Z,1611794660.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.780014 m,
      bearing: 77.907050 deg,
      approachRate: -0.567556 m/s,
      LOS rate: -0.093967 deg/s,
      cmd update: -0.375867 deg/s,
      cmd heading: 69.791003 deg,
      new cmd heading: 69.859848 deg.

2021-01-28T00:44:22.630Z,1611794662.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:23.414Z,1611794663.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:23.836Z,1611794663.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:24.677Z,1611794664.677 [Micromodem](INFO): Nmea in: $SNTTA,0.098791,,,,004425.16*4E

2021-01-28T00:44:24.699Z,1611794664.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.200012 m, bearing: 77.627265 deg, deltaT: 4.466750 s, approachRate: -0.577602 m/s, LOS rate: -0.062637 deg/s, posRepo size: 4
2021-01-28T00:44:24.701Z,1611794664.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.200012 m,
      bearing: 77.627265 deg,
      approachRate: -0.577602 m/s,
      LOS rate: -0.062637 deg/s,
      cmd update: -0.250549 deg/s,
      cmd heading: 68.112128 deg,
      new cmd heading: 67.952315 deg.

2021-01-28T00:44:27.106Z,1611794667.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:27.882Z,1611794667.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:28.280Z,1611794668.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:29.105Z,1611794669.105 [Micromodem](INFO): Nmea in: $SNTTA,0.096996,,,,004429.63*47

2021-01-28T00:44:29.156Z,1611794669.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.380005 m, bearing: 78.146134 deg, deltaT: 4.423959 s, approachRate: -0.637440 m/s, LOS rate: 0.117286 deg/s, posRepo size: 4
2021-01-28T00:44:29.158Z,1611794669.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.380005 m,
      bearing: 78.146134 deg,
      approachRate: -0.637440 m/s,
      LOS rate: 0.117286 deg/s,
      cmd update: 0.469144 deg/s,
      cmd heading: 67.003692 deg,
      new cmd heading: 66.888949 deg.

2021-01-28T00:44:31.542Z,1611794671.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:32.358Z,1611794672.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:32.724Z,1611794672.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:33.539Z,1611794673.539 [Micromodem](INFO): Nmea in: $SNTTA,0.095075,,,,004434.10*48

2021-01-28T00:44:33.584Z,1611794673.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.380005 m, bearing: 78.332250 deg, deltaT: 4.493534 s, approachRate: 0.000000 m/s, LOS rate: 0.041419 deg/s, posRepo size: 4
2021-01-28T00:44:33.586Z,1611794673.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.380005 m,
      bearing: 78.332250 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.041419 deg/s,
      cmd update: 0.165674 deg/s,
      cmd heading: 69.108061 deg,
      new cmd heading: 69.295921 deg.

2021-01-28T00:44:36.042Z,1611794676.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:36.754Z,1611794676.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:37.166Z,1611794677.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:38.003Z,1611794678.003 [Micromodem](INFO): Nmea in: $SNTTA,0.093296,,,,004438.49*41

2021-01-28T00:44:38.055Z,1611794678.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 78.762149 deg, deltaT: 4.417887 s, approachRate: -1.276628 m/s, LOS rate: 0.097309 deg/s, posRepo size: 4
2021-01-28T00:44:38.061Z,1611794678.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.740005 m,
      bearing: 78.762149 deg,
      approachRate: -1.276628 m/s,
      LOS rate: 0.097309 deg/s,
      cmd update: 0.389235 deg/s,
      cmd heading: 69.840634 deg,
      new cmd heading: 69.915091 deg.

2021-01-28T00:44:40.402Z,1611794680.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:41.206Z,1611794681.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:41.612Z,1611794681.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:42.441Z,1611794682.441 [Micromodem](INFO): Nmea in: $SNTTA,0.091826,,,,004442.95*4E

2021-01-28T00:44:42.475Z,1611794682.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.580002 m, bearing: 78.551588 deg, deltaT: 4.454227 s, approachRate: -0.484933 m/s, LOS rate: -0.047272 deg/s, posRepo size: 4
2021-01-28T00:44:42.477Z,1611794682.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.580002 m,
      bearing: 78.551588 deg,
      approachRate: -0.484933 m/s,
      LOS rate: -0.047272 deg/s,
      cmd update: -0.189089 deg/s,
      cmd heading: 71.575983 deg,
      new cmd heading: 71.735918 deg.

2021-01-28T00:44:44.911Z,1611794684.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:45.639Z,1611794685.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:46.064Z,1611794686.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:46.908Z,1611794686.908 [Micromodem](INFO): Nmea in: $SNTTA,0.090084,,,,004447.38*4D

2021-01-28T00:44:46.961Z,1611794686.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.119995 m, bearing: 78.399951 deg, deltaT: 4.411915 s, approachRate: -0.557582 m/s, LOS rate: -0.034370 deg/s, posRepo size: 4
2021-01-28T00:44:46.962Z,1611794686.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.119995 m,
      bearing: 78.399951 deg,
      approachRate: -0.557582 m/s,
      LOS rate: -0.034370 deg/s,
      cmd update: -0.137480 deg/s,
      cmd heading: 70.741799 deg,
      new cmd heading: 70.650102 deg.

2021-01-28T00:44:48.089Z,1611794688.089 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:44:48.983Z,1611794688.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:49.682Z,1611794689.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:50.103Z,1611794690.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:50.949Z,1611794690.949 [Micromodem](INFO): Nmea in: $SNTTA,0.088582,,,,004451.42*4D

2021-01-28T00:44:51.002Z,1611794691.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.660004 m, bearing: 78.349237 deg, deltaT: 4.029063 s, approachRate: -0.610562 m/s, LOS rate: -0.012587 deg/s, posRepo size: 4
2021-01-28T00:44:51.009Z,1611794691.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.660004 m,
      bearing: 78.349237 deg,
      approachRate: -0.610562 m/s,
      LOS rate: -0.012587 deg/s,
      cmd update: -0.050348 deg/s,
      cmd heading: 70.187843 deg,
      new cmd heading: 70.119701 deg.

2021-01-28T00:44:53.013Z,1611794693.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:53.726Z,1611794693.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:54.136Z,1611794694.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:54.981Z,1611794694.981 [Micromodem](INFO): Nmea in: $SNTTA,0.086808,,,,004455.47*4D

2021-01-28T00:44:55.042Z,1611794695.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.960007 m, bearing: 78.633366 deg, deltaT: 4.060000 s, approachRate: -0.665024 m/s, LOS rate: 0.069983 deg/s, posRepo size: 4
2021-01-28T00:44:55.044Z,1611794695.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.960007 m,
      bearing: 78.633366 deg,
      approachRate: -0.665024 m/s,
      LOS rate: 0.069983 deg/s,
      cmd update: 0.279930 deg/s,
      cmd heading: 69.983439 deg,
      new cmd heading: 69.959408 deg.

2021-01-28T00:44:57.377Z,1611794697.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:44:58.174Z,1611794698.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:44:58.211Z,1611794698.211 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:44:58.580Z,1611794698.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:44:59.413Z,1611794699.413 [Micromodem](INFO): Nmea in: $SNTTA,0.084840,,,,004459.91*44

2021-01-28T00:44:59.435Z,1611794699.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.140007 m, bearing: 78.875960 deg, deltaT: 4.479355 s, approachRate: -0.629555 m/s, LOS rate: 0.054158 deg/s, posRepo size: 4
2021-01-28T00:44:59.437Z,1611794699.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.140007 m,
      bearing: 78.875960 deg,
      approachRate: -0.629555 m/s,
      LOS rate: 0.054158 deg/s,
      cmd update: 0.216634 deg/s,
      cmd heading: 71.236223 deg,
      new cmd heading: 71.346949 deg.

2021-01-28T00:45:01.818Z,1611794701.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:02.614Z,1611794702.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:03.024Z,1611794703.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:03.866Z,1611794703.866 [Micromodem](INFO): Nmea in: $SNTTA,0.083278,,0.093003,,004504.36*51

2021-01-28T00:45:04.654Z,1611794704.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:06.251Z,1611794706.251 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:45:07.482Z,1611794707.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:08.266Z,1611794708.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:08.672Z,1611794708.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:09.509Z,1611794709.509 [Micromodem](INFO): Nmea in: $SNTTA,0.081095,,,,004510.01*44

2021-01-28T00:45:09.539Z,1611794709.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.560005 m, bearing: 78.440242 deg, deltaT: 10.103112 s, approachRate: -0.552305 m/s, LOS rate: -0.043127 deg/s, posRepo size: 4
2021-01-28T00:45:09.541Z,1611794709.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.560005 m,
      bearing: 78.440242 deg,
      approachRate: -0.552305 m/s,
      LOS rate: -0.043127 deg/s,
      cmd update: -0.172509 deg/s,
      cmd heading: 73.425755 deg,
      new cmd heading: 73.510682 deg.

2021-01-28T00:45:11.999Z,1611794711.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:12.710Z,1611794712.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:13.124Z,1611794713.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:13.155Z,1611794713.155 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-28T00:45:13.977Z,1611794713.977 [Micromodem](INFO): Nmea in: $SNTTA,0.079301,,,,004514.45*49

2021-01-28T00:45:14.041Z,1611794714.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.979996 m, bearing: 77.417667 deg, deltaT: 4.407389 s, approachRate: -0.585383 m/s, LOS rate: -0.232014 deg/s, posRepo size: 4
2021-01-28T00:45:14.043Z,1611794714.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.979996 m,
      bearing: 77.417667 deg,
      approachRate: -0.585383 m/s,
      LOS rate: -0.232014 deg/s,
      cmd update: -0.928055 deg/s,
      cmd heading: 72.665431 deg,
      new cmd heading: 72.581542 deg.

2021-01-28T00:45:16.381Z,1611794716.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:17.155Z,1611794717.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:17.573Z,1611794717.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:18.398Z,1611794718.398 [Micromodem](INFO): Nmea in: $SNTTA,0.077544,,,,004518.89*4C

2021-01-28T00:45:18.413Z,1611794718.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.099998 m, bearing: 78.350650 deg, deltaT: 4.484587 s, approachRate: -0.642199 m/s, LOS rate: 0.208042 deg/s, posRepo size: 4
2021-01-28T00:45:18.415Z,1611794718.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.099998 m,
      bearing: 78.350650 deg,
      approachRate: -0.642199 m/s,
      LOS rate: 0.208042 deg/s,
      cmd update: 0.832169 deg/s,
      cmd heading: 68.518143 deg,
      new cmd heading: 68.155970 deg.

2021-01-28T00:45:20.838Z,1611794720.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:21.598Z,1611794721.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:22.015Z,1611794722.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:22.857Z,1611794722.857 [Micromodem](INFO): Nmea in: $SNTTA,0.075838,,,,004523.34*46

2021-01-28T00:45:22.961Z,1611794722.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.520004 m, bearing: 78.813286 deg, deltaT: 4.406552 s, approachRate: -0.585490 m/s, LOS rate: 0.104988 deg/s, posRepo size: 4
2021-01-28T00:45:22.963Z,1611794722.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.520004 m,
      bearing: 78.813286 deg,
      approachRate: -0.585490 m/s,
      LOS rate: 0.104988 deg/s,
      cmd update: 0.419953 deg/s,
      cmd heading: 72.194902 deg,
      new cmd heading: 72.627208 deg.

2021-01-28T00:45:25.289Z,1611794725.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:26.056Z,1611794726.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:26.452Z,1611794726.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:27.293Z,1611794727.293 [Micromodem](INFO): Nmea in: $SNTTA,0.074041,,,,004527.80*4A

2021-01-28T00:45:27.329Z,1611794727.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.880005 m, bearing: 78.787502 deg, deltaT: 4.505342 s, approachRate: -0.585971 m/s, LOS rate: -0.005723 deg/s, posRepo size: 4
2021-01-28T00:45:27.331Z,1611794727.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.880005 m,
      bearing: 78.787502 deg,
      approachRate: -0.585971 m/s,
      LOS rate: -0.005723 deg/s,
      cmd update: -0.022892 deg/s,
      cmd heading: 74.087036 deg,
      new cmd heading: 74.247226 deg.

2021-01-28T00:45:29.698Z,1611794729.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:30.494Z,1611794730.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:30.948Z,1611794730.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:31.729Z,1611794731.729 [Micromodem](INFO): Nmea in: $SNTTA,0.072337,,,,004532.24*44

2021-01-28T00:45:31.766Z,1611794731.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.420006 m, bearing: 79.031859 deg, deltaT: 4.358470 s, approachRate: -0.564418 m/s, LOS rate: 0.056065 deg/s, posRepo size: 4
2021-01-28T00:45:31.768Z,1611794731.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.420006 m,
      bearing: 79.031859 deg,
      approachRate: -0.564418 m/s,
      LOS rate: 0.056065 deg/s,
      cmd update: 0.224259 deg/s,
      cmd heading: 73.987171 deg,
      new cmd heading: 73.976712 deg.

2021-01-28T00:45:34.175Z,1611794734.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:34.962Z,1611794734.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:35.348Z,1611794735.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:36.159Z,1611794736.159 [Micromodem](INFO): Nmea in: $SNTTA,0.070485,,0.148653,,004536.70*5E

2021-01-28T00:45:36.219Z,1611794736.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.599998 m, bearing: 78.492268 deg, deltaT: 4.472121 s, approachRate: -0.630575 m/s, LOS rate: -0.120657 deg/s, posRepo size: 4
2021-01-28T00:45:36.221Z,1611794736.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.599998 m,
      bearing: 78.492268 deg,
      approachRate: -0.630575 m/s,
      LOS rate: -0.120657 deg/s,
      cmd update: -0.482627 deg/s,
      cmd heading: 74.990088 deg,
      new cmd heading: 75.088251 deg.

2021-01-28T00:45:38.610Z,1611794738.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:39.374Z,1611794739.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:39.789Z,1611794739.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:40.627Z,1611794740.627 [Micromodem](INFO): Nmea in: $SNTTA,0.068942,,,,004541.12*46

2021-01-28T00:45:40.647Z,1611794740.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.380005 m, bearing: 78.201582 deg, deltaT: 4.454726 s, approachRate: -0.498346 m/s, LOS rate: -0.065253 deg/s, posRepo size: 4
2021-01-28T00:45:40.649Z,1611794740.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.380005 m,
      bearing: 78.201582 deg,
      approachRate: -0.498346 m/s,
      LOS rate: -0.065253 deg/s,
      cmd update: -0.261014 deg/s,
      cmd heading: 72.840133 deg,
      new cmd heading: 72.641765 deg.

2021-01-28T00:45:43.090Z,1611794743.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:43.826Z,1611794743.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:44.247Z,1611794744.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:45.077Z,1611794745.077 [Micromodem](INFO): Nmea in: $SNTTA,0.066963,,,,004545.57*4E

2021-01-28T00:45:45.111Z,1611794745.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 77.518781 deg, deltaT: 4.408920 s, approachRate: -0.707657 m/s, LOS rate: -0.154868 deg/s, posRepo size: 4
2021-01-28T00:45:45.114Z,1611794745.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.260002 m,
      bearing: 77.518781 deg,
      approachRate: -0.707657 m/s,
      LOS rate: -0.154868 deg/s,
      cmd update: -0.619472 deg/s,
      cmd heading: 71.689460 deg,
      new cmd heading: 71.567657 deg.

2021-01-28T00:45:47.490Z,1611794747.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:48.266Z,1611794748.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:48.679Z,1611794748.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:49.525Z,1611794749.525 [Micromodem](INFO): Nmea in: $SNTTA,0.065293,,,,004550.01*4E

2021-01-28T00:45:49.548Z,1611794749.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.739998 m, bearing: 77.188986 deg, deltaT: 4.480497 s, approachRate: -0.562439 m/s, LOS rate: -0.073607 deg/s, posRepo size: 4
2021-01-28T00:45:49.550Z,1611794749.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.739998 m,
      bearing: 77.188986 deg,
      approachRate: -0.562439 m/s,
      LOS rate: -0.073607 deg/s,
      cmd update: -0.294428 deg/s,
      cmd heading: 68.913768 deg,
      new cmd heading: 68.652337 deg.

2021-01-28T00:45:52.003Z,1611794752.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:52.710Z,1611794752.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:53.120Z,1611794753.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:53.973Z,1611794753.973 [Micromodem](INFO): Nmea in: $SNTTA,0.063518,,,,004554.45*48

2021-01-28T00:45:54.034Z,1611794754.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.099998 m, bearing: 77.635864 deg, deltaT: 4.435334 s, approachRate: -0.595220 m/s, LOS rate: 0.100754 deg/s, posRepo size: 4
2021-01-28T00:45:54.036Z,1611794754.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.099998 m,
      bearing: 77.635864 deg,
      approachRate: -0.595220 m/s,
      LOS rate: 0.100754 deg/s,
      cmd update: 0.403017 deg/s,
      cmd heading: 67.610248 deg,
      new cmd heading: 67.468621 deg.

2021-01-28T00:45:56.363Z,1611794756.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:45:57.154Z,1611794757.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:45:57.562Z,1611794757.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:45:58.405Z,1611794758.405 [Micromodem](INFO): Nmea in: $SNTTA,0.061793,,,,004558.89*47

2021-01-28T00:45:58.427Z,1611794758.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.520004 m, bearing: 77.061452 deg, deltaT: 4.486391 s, approachRate: -0.575071 m/s, LOS rate: -0.128034 deg/s, posRepo size: 4
2021-01-28T00:45:58.456Z,1611794758.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.520004 m,
      bearing: 77.061452 deg,
      approachRate: -0.575071 m/s,
      LOS rate: -0.128034 deg/s,
      cmd update: -0.512137 deg/s,
      cmd heading: 69.420027 deg,
      new cmd heading: 69.574680 deg.

2021-01-28T00:46:00.835Z,1611794760.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:01.598Z,1611794761.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:02.006Z,1611794762.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:02.852Z,1611794762.852 [Micromodem](INFO): Nmea in: $SNTTA,0.060007,,,,004603.34*47

2021-01-28T00:46:02.936Z,1611794762.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 77.625646 deg, deltaT: 4.377677 s, approachRate: -0.616765 m/s, LOS rate: 0.128880 deg/s, posRepo size: 4
2021-01-28T00:46:02.938Z,1611794762.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.820007 m,
      bearing: 77.625646 deg,
      approachRate: -0.616765 m/s,
      LOS rate: 0.128880 deg/s,
      cmd update: 0.515519 deg/s,
      cmd heading: 67.176079 deg,
      new cmd heading: 66.916336 deg.

2021-01-28T00:46:05.312Z,1611794765.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:06.058Z,1611794766.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:06.452Z,1611794766.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:07.289Z,1611794767.289 [Micromodem](INFO): Nmea in: $SNTTA,0.058726,,,,004607.80*43

2021-01-28T00:46:07.339Z,1611794767.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.900002 m, bearing: 77.528999 deg, deltaT: 4.513396 s, approachRate: -0.425402 m/s, LOS rate: -0.021413 deg/s, posRepo size: 4
2021-01-28T00:46:07.341Z,1611794767.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.900002 m,
      bearing: 77.528999 deg,
      approachRate: -0.425402 m/s,
      LOS rate: -0.021413 deg/s,
      cmd update: -0.085654 deg/s,
      cmd heading: 69.497102 deg,
      new cmd heading: 69.709375 deg.

2021-01-28T00:46:09.693Z,1611794769.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:10.499Z,1611794770.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:10.923Z,1611794770.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:11.745Z,1611794771.745 [Micromodem](INFO): Nmea in: $SNTTA,0.056530,,0.087786,,004612.24*5A

2021-01-28T00:46:11.781Z,1611794771.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.599998 m, bearing: 77.751732 deg, deltaT: 4.380750 s, approachRate: -0.753296 m/s, LOS rate: 0.050843 deg/s, posRepo size: 4
2021-01-28T00:46:11.782Z,1611794771.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.599998 m,
      bearing: 77.751732 deg,
      approachRate: -0.753296 m/s,
      LOS rate: 0.050843 deg/s,
      cmd update: 0.203374 deg/s,
      cmd heading: 69.120911 deg,
      new cmd heading: 69.081417 deg.

2021-01-28T00:46:14.144Z,1611794774.144 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:46:14.168Z,1611794774.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:14.969Z,1611794774.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:15.348Z,1611794775.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:16.174Z,1611794776.174 [Micromodem](INFO): Nmea in: $SNTTA,0.054816,,,,004616.71*4D

2021-01-28T00:46:16.241Z,1611794776.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 77.671108 deg, deltaT: 4.492280 s, approachRate: -0.574317 m/s, LOS rate: -0.017947 deg/s, posRepo size: 4
2021-01-28T00:46:16.243Z,1611794776.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.020004 m,
      bearing: 77.671108 deg,
      approachRate: -0.574317 m/s,
      LOS rate: -0.017947 deg/s,
      cmd update: -0.071789 deg/s,
      cmd heading: 70.033711 deg,
      new cmd heading: 70.120967 deg.

2021-01-28T00:46:18.610Z,1611794778.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:19.378Z,1611794779.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:19.794Z,1611794779.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:20.625Z,1611794780.625 [Micromodem](INFO): Nmea in: $SNTTA,0.052990,,,,004621.12*45

2021-01-28T00:46:20.647Z,1611794780.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 77.277402 deg, deltaT: 4.430827 s, approachRate: -0.609366 m/s, LOS rate: -0.088856 deg/s, posRepo size: 4
2021-01-28T00:46:20.650Z,1611794780.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.320007 m,
      bearing: 77.277402 deg,
      approachRate: -0.609366 m/s,
      LOS rate: -0.088856 deg/s,
      cmd update: -0.355424 deg/s,
      cmd heading: 69.715343 deg,
      new cmd heading: 69.686260 deg.

2021-01-28T00:46:23.063Z,1611794783.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:23.826Z,1611794783.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:24.228Z,1611794784.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:25.069Z,1611794785.069 [Micromodem](INFO): Nmea in: $SNTTA,0.051269,,,,004625.57*4E

2021-01-28T00:46:25.122Z,1611794785.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.739998 m, bearing: 76.154307 deg, deltaT: 4.402624 s, approachRate: -0.586016 m/s, LOS rate: -0.255097 deg/s, posRepo size: 4
2021-01-28T00:46:25.124Z,1611794785.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.739998 m,
      bearing: 76.154307 deg,
      approachRate: -0.586016 m/s,
      LOS rate: -0.255097 deg/s,
      cmd update: -1.020387 deg/s,
      cmd heading: 68.150607 deg,
      new cmd heading: 67.981065 deg.

2021-01-28T00:46:27.474Z,1611794787.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:28.266Z,1611794788.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:28.680Z,1611794788.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:29.510Z,1611794789.510 [Micromodem](INFO): Nmea in: $SNTTA,0.049879,,0.072035,,004630.00*57

2021-01-28T00:46:29.525Z,1611794789.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.580009 m, bearing: 78.079533 deg, deltaT: 4.503397 s, approachRate: -0.479635 m/s, LOS rate: 0.427505 deg/s, posRepo size: 4
2021-01-28T00:46:29.527Z,1611794789.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.580009 m,
      bearing: 78.079533 deg,
      approachRate: -0.479635 m/s,
      LOS rate: 0.427505 deg/s,
      cmd update: 1.710021 deg/s,
      cmd heading: 63.567420 deg,
      new cmd heading: 63.171069 deg.

2021-01-28T00:46:32.005Z,1611794792.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:32.706Z,1611794792.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:33.129Z,1611794793.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:33.977Z,1611794793.977 [Micromodem](INFO): Nmea in: $SNTTA,0.047844,,,,004634.45*4F

2021-01-28T00:46:34.041Z,1611794794.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.580002 m, bearing: 77.246701 deg, deltaT: 4.408757 s, approachRate: -0.680466 m/s, LOS rate: -0.188904 deg/s, posRepo size: 4
2021-01-28T00:46:34.043Z,1611794794.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.580002 m,
      bearing: 77.246701 deg,
      approachRate: -0.680466 m/s,
      LOS rate: -0.188904 deg/s,
      cmd update: -0.755616 deg/s,
      cmd heading: 71.120108 deg,
      new cmd heading: 71.953535 deg.

2021-01-28T00:46:35.158Z,1611794795.158 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:46:36.378Z,1611794796.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:37.170Z,1611794797.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:37.560Z,1611794797.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:38.397Z,1611794798.397 [Micromodem](INFO): Nmea in: $SNTTA,0.046163,,,,004638.91*47

2021-01-28T00:46:38.431Z,1611794798.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 76.947067 deg, deltaT: 4.473858 s, approachRate: -0.563273 m/s, LOS rate: -0.066974 deg/s, posRepo size: 4
2021-01-28T00:46:38.433Z,1611794798.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 76.947067 deg,
      approachRate: -0.563273 m/s,
      LOS rate: -0.066974 deg/s,
      cmd update: -0.267897 deg/s,
      cmd heading: 67.736534 deg,
      new cmd heading: 67.434018 deg.

2021-01-28T00:46:40.845Z,1611794800.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:41.598Z,1611794801.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:42.006Z,1611794802.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:42.843Z,1611794802.843 [Micromodem](INFO): Nmea in: $SNTTA,0.044389,,,,004643.34*40

2021-01-28T00:46:42.935Z,1611794802.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.419998 m, bearing: 77.399212 deg, deltaT: 4.423838 s, approachRate: -0.596767 m/s, LOS rate: 0.102206 deg/s, posRepo size: 4
2021-01-28T00:46:42.941Z,1611794802.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.419998 m,
      bearing: 77.399212 deg,
      approachRate: -0.596767 m/s,
      LOS rate: 0.102206 deg/s,
      cmd update: 0.408826 deg/s,
      cmd heading: 66.556762 deg,
      new cmd heading: 66.422836 deg.

2021-01-28T00:46:45.284Z,1611794805.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:46.050Z,1611794806.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:46.448Z,1611794806.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:47.293Z,1611794807.293 [Micromodem](INFO): Nmea in: $SNTTA,0.042746,,,,004647.79*4C

2021-01-28T00:46:47.348Z,1611794807.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.899998 m, bearing: 78.196486 deg, deltaT: 4.476846 s, approachRate: -0.562896 m/s, LOS rate: 0.178088 deg/s, posRepo size: 4
2021-01-28T00:46:47.350Z,1611794807.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.899998 m,
      bearing: 78.196486 deg,
      approachRate: -0.562896 m/s,
      LOS rate: 0.178088 deg/s,
      cmd update: 0.712354 deg/s,
      cmd heading: 68.393492 deg,
      new cmd heading: 68.565195 deg.

2021-01-28T00:46:49.694Z,1611794809.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:50.486Z,1611794810.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:50.936Z,1611794810.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:51.725Z,1611794811.725 [Micromodem](INFO): Nmea in: $SNTTA,0.041001,,,,004652.23*40

2021-01-28T00:46:51.767Z,1611794811.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 78.258709 deg, deltaT: 4.381347 s, approachRate: -0.588859 m/s, LOS rate: 0.014202 deg/s, posRepo size: 4
2021-01-28T00:46:51.773Z,1611794811.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.320004 m,
      bearing: 78.258709 deg,
      approachRate: -0.588859 m/s,
      LOS rate: 0.014202 deg/s,
      cmd update: 0.056807 deg/s,
      cmd heading: 71.517369 deg,
      new cmd heading: 71.840581 deg.

2021-01-28T00:46:54.166Z,1611794814.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:54.961Z,1611794814.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:55.332Z,1611794815.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:46:56.167Z,1611794816.167 [Micromodem](INFO): Nmea in: $SNTTA,0.039267,,0.042003,,004656.70*54

2021-01-28T00:46:56.245Z,1611794816.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.680004 m, bearing: 78.335959 deg, deltaT: 4.444838 s, approachRate: -0.593947 m/s, LOS rate: 0.017380 deg/s, posRepo size: 4
2021-01-28T00:46:56.247Z,1611794816.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.680004 m,
      bearing: 78.335959 deg,
      approachRate: -0.593947 m/s,
      LOS rate: 0.017380 deg/s,
      cmd update: 0.069518 deg/s,
      cmd heading: 71.769881 deg,
      new cmd heading: 71.797564 deg.

2021-01-28T00:46:58.589Z,1611794818.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:46:59.397Z,1611794819.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:46:59.784Z,1611794819.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:00.617Z,1611794820.617 [Micromodem](INFO): Nmea in: $SNTTA,0.037943,,,,004701.14*4D

2021-01-28T00:47:00.639Z,1611794820.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.699997 m, bearing: 79.472557 deg, deltaT: 4.466679 s, approachRate: -0.443284 m/s, LOS rate: 0.254462 deg/s, posRepo size: 4
2021-01-28T00:47:00.641Z,1611794820.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.699997 m,
      bearing: 79.472557 deg,
      approachRate: -0.443284 m/s,
      LOS rate: 0.254462 deg/s,
      cmd update: 1.017846 deg/s,
      cmd heading: 72.080395 deg,
      new cmd heading: 72.109213 deg.

2021-01-28T00:47:03.059Z,1611794823.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:03.819Z,1611794823.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:04.229Z,1611794824.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:05.057Z,1611794825.057 [Micromodem](INFO): Nmea in: $SNTTA,0.035775,0.040650,,,004705.56*5F

2021-01-28T00:47:05.119Z,1611794825.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.999996 m, bearing: 79.938731 deg, deltaT: 4.425190 s, approachRate: -0.610143 m/s, LOS rate: 0.105346 deg/s, posRepo size: 4
2021-01-28T00:47:05.126Z,1611794825.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.999996 m,
      bearing: 79.938731 deg,
      approachRate: -0.610143 m/s,
      LOS rate: 0.105346 deg/s,
      cmd update: 0.421382 deg/s,
      cmd heading: 76.582340 deg,
      new cmd heading: 77.062570 deg.

2021-01-28T00:47:07.470Z,1611794827.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:08.272Z,1611794828.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:08.668Z,1611794828.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:09.509Z,1611794829.509 [Micromodem](INFO): Nmea in: $SNTTA,0.034084,,,0.049496,004710.01*50

2021-01-28T00:47:09.531Z,1611794829.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.939999 m, bearing: 77.579823 deg, deltaT: 4.469959 s, approachRate: -0.684569 m/s, LOS rate: -0.527725 deg/s, posRepo size: 4
2021-01-28T00:47:09.533Z,1611794829.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 77.579823 deg,
      approachRate: -0.684569 m/s,
      LOS rate: -0.527725 deg/s,
      cmd update: -2.110899 deg/s,
      cmd heading: 78.466844 deg,
      new cmd heading: 78.640090 deg.

2021-01-28T00:47:11.981Z,1611794831.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:12.706Z,1611794832.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:13.126Z,1611794833.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:13.148Z,1611794833.148 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:47:13.973Z,1611794833.973 [Micromodem](INFO): Nmea in: $SNTTA,0.032333,,,,004714.45*45

2021-01-28T00:47:14.051Z,1611794834.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.300003 m, bearing: 76.773375 deg, deltaT: 4.405225 s, approachRate: -0.599287 m/s, LOS rate: -0.183066 deg/s, posRepo size: 4
2021-01-28T00:47:14.058Z,1611794834.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.300003 m,
      bearing: 76.773375 deg,
      approachRate: -0.599287 m/s,
      LOS rate: -0.183066 deg/s,
      cmd update: -0.732264 deg/s,
      cmd heading: 69.168293 deg,
      new cmd heading: 68.056624 deg.

2021-01-28T00:47:16.038Z,1611794836.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:16.746Z,1611794836.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:17.160Z,1611794837.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:18.010Z,1611794838.010 [Micromodem](INFO): Nmea in: $SNTTA,0.030836,,,,004718.49*49

2021-01-28T00:47:18.061Z,1611794838.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.080002 m, bearing: 76.510454 deg, deltaT: 4.068248 s, approachRate: -0.545690 m/s, LOS rate: -0.064628 deg/s, posRepo size: 4
2021-01-28T00:47:18.063Z,1611794838.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.080002 m,
      bearing: 76.510454 deg,
      approachRate: -0.545690 m/s,
      LOS rate: -0.064628 deg/s,
      cmd update: -0.258511 deg/s,
      cmd heading: 66.192073 deg,
      new cmd heading: 65.846396 deg.

2021-01-28T00:47:20.407Z,1611794840.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:21.187Z,1611794841.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:21.595Z,1611794841.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:22.437Z,1611794842.437 [Micromodem](INFO): Nmea in: $SNTTA,0.029082,,,,004722.93*48

2021-01-28T00:47:22.462Z,1611794842.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.439999 m, bearing: 75.971142 deg, deltaT: 4.477672 s, approachRate: -0.589593 m/s, LOS rate: -0.120445 deg/s, posRepo size: 4
2021-01-28T00:47:22.484Z,1611794842.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.439999 m,
      bearing: 75.971142 deg,
      approachRate: -0.589593 m/s,
      LOS rate: -0.120445 deg/s,
      cmd update: -0.481779 deg/s,
      cmd heading: 65.034546 deg,
      new cmd heading: 64.932308 deg.

2021-01-28T00:47:24.915Z,1611794844.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:25.638Z,1611794845.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:26.056Z,1611794846.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:26.883Z,1611794846.883 [Micromodem](INFO): Nmea in: $SNTTA,0.027464,,0.037970,,004727.38*5A

2021-01-28T00:47:26.969Z,1611794846.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.039997 m, bearing: 76.886353 deg, deltaT: 4.386793 s, approachRate: -0.547097 m/s, LOS rate: 0.208629 deg/s, posRepo size: 4
2021-01-28T00:47:26.971Z,1611794846.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.039997 m,
      bearing: 76.886353 deg,
      approachRate: -0.547097 m/s,
      LOS rate: 0.208629 deg/s,
      cmd update: 0.834515 deg/s,
      cmd heading: 62.919552 deg,
      new cmd heading: 62.674889 deg.

2021-01-28T00:47:29.315Z,1611794849.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:30.084Z,1611794850.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:30.480Z,1611794850.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:31.321Z,1611794851.321 [Micromodem](INFO): Nmea in: $SNTTA,0.025750,,,,004731.82*4E

2021-01-28T00:47:31.365Z,1611794851.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 76.048173 deg, deltaT: 4.546088 s, approachRate: -0.567521 m/s, LOS rate: -0.184374 deg/s, posRepo size: 4
2021-01-28T00:47:31.365Z,1611794851.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m.
2021-01-28T00:47:31.367Z,1611794851.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.459995 m,
      bearing: 76.048173 deg,
      approachRate: -0.567521 m/s,
      LOS rate: -0.184374 deg/s,
      cmd update: -0.737496 deg/s,
      cmd heading: 66.712320 deg,
      new cmd heading: 67.015039 deg.

2021-01-28T00:47:31.734Z,1611794851.734 [PowerOnly](INFO): Powering up loadControl
2021-01-28T00:47:33.734Z,1611794853.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:34.530Z,1611794854.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:34.964Z,1611794854.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:35.773Z,1611794855.773 [Micromodem](INFO): Nmea in: $SNTTA,0.024111,,,,004736.27*44

2021-01-28T00:47:35.795Z,1611794855.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.999996 m, bearing: 77.143736 deg, deltaT: 4.341599 s, approachRate: -0.566611 m/s, LOS rate: 0.252341 deg/s, posRepo size: 4
2021-01-28T00:47:35.796Z,1611794855.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.00 m.
2021-01-28T00:47:35.798Z,1611794855.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.999996 m,
      bearing: 77.143736 deg,
      approachRate: -0.566611 m/s,
      LOS rate: 0.252341 deg/s,
      cmd update: 1.009363 deg/s,
      cmd heading: 63.509007 deg,
      new cmd heading: 63.177015 deg.

2021-01-28T00:47:36.166Z,1611794856.166 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 75
2021-01-28T00:47:38.209Z,1611794858.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:38.967Z,1611794858.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:39.385Z,1611794859.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:40.209Z,1611794860.209 [Micromodem](INFO): Nmea in: $SNTTA,0.022403,,,,004740.71*46

2021-01-28T00:47:40.244Z,1611794860.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.419998 m, bearing: 77.677371 deg, deltaT: 4.466974 s, approachRate: -0.577572 m/s, LOS rate: 0.119462 deg/s, posRepo size: 4
2021-01-28T00:47:40.245Z,1611794860.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.42 m.
2021-01-28T00:47:40.247Z,1611794860.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.419998 m,
      bearing: 77.677371 deg,
      approachRate: -0.577572 m/s,
      LOS rate: 0.119462 deg/s,
      cmd update: 0.477850 deg/s,
      cmd heading: 68.013667 deg,
      new cmd heading: 68.453668 deg.

2021-01-28T00:47:42.723Z,1611794862.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:43.484Z,1611794863.484 [DDM](ERROR): Could not parse whisker state
2021-01-28T00:47:43.494Z,1611794863.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:43.817Z,1611794863.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:44.691Z,1611794864.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 77.595464 deg, deltaT: 4.463913 s, approachRate: -0.591409 m/s, LOS rate: -0.018349 deg/s, posRepo size: 4
2021-01-28T00:47:44.697Z,1611794864.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.78 m.
2021-01-28T00:47:44.699Z,1611794864.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.779999 m,
      bearing: 77.595464 deg,
      approachRate: -0.591409 m/s,
      LOS rate: -0.018349 deg/s,
      cmd update: -0.073395 deg/s,
      cmd heading: 70.148644 deg,
      new cmd heading: 70.346149 deg.

2021-01-28T00:47:45.045Z,1611794865.045 [Micromodem](INFO): Nmea in: $SNTTA,0.020665,,,,004745.23*44

2021-01-28T00:47:47.065Z,1611794867.065 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:47:47.115Z,1611794867.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:47.873Z,1611794867.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:48.271Z,1611794868.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:49.089Z,1611794869.089 [Micromodem](INFO): Nmea in: $SNTTA,0.019029,,0.022466,,004749.61*50

2021-01-28T00:47:49.136Z,1611794869.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 78.492780 deg, deltaT: 4.421113 s, approachRate: -0.556421 m/s, LOS rate: 0.202962 deg/s, posRepo size: 4
2021-01-28T00:47:49.137Z,1611794869.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.32 m.
2021-01-28T00:47:49.138Z,1611794869.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 78.492780 deg,
      approachRate: -0.556421 m/s,
      LOS rate: 0.202962 deg/s,
      cmd update: 0.811846 deg/s,
      cmd heading: 69.824435 deg,
      new cmd heading: 69.791969 deg.

2021-01-28T00:47:51.510Z,1611794871.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:52.307Z,1611794872.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:52.717Z,1611794872.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:53.565Z,1611794873.565 [Micromodem](INFO): Nmea in: $SNTTA,0.017470,,,,004754.05*42

2021-01-28T00:47:53.587Z,1611794873.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.979996 m, bearing: 77.695540 deg, deltaT: 4.474057 s, approachRate: -0.523016 m/s, LOS rate: -0.178192 deg/s, posRepo size: 4
2021-01-28T00:47:53.588Z,1611794873.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.98 m.
2021-01-28T00:47:53.590Z,1611794873.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.979996 m,
      bearing: 77.695540 deg,
      approachRate: -0.523016 m/s,
      LOS rate: -0.178192 deg/s,
      cmd update: -0.712767 deg/s,
      cmd heading: 73.456650 deg,
      new cmd heading: 73.797678 deg.

2021-01-28T00:47:56.004Z,1611794876.004 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T00:47:56.012Z,1611794876.012 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-28T00:47:56.029Z,1611794876.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:47:56.743Z,1611794876.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:47:57.155Z,1611794877.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:47:58.002Z,1611794878.002 [Micromodem](INFO): Nmea in: $SNTTA,0.015803,,,,004758.48*4D

2021-01-28T00:47:58.056Z,1611794878.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 77.193937 deg, deltaT: 4.418723 s, approachRate: -0.570300 m/s, LOS rate: -0.113517 deg/s, posRepo size: 4
2021-01-28T00:47:58.057Z,1611794878.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.46 m.
2021-01-28T00:47:58.059Z,1611794878.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.459999 m,
      bearing: 77.193937 deg,
      approachRate: -0.570300 m/s,
      LOS rate: -0.113517 deg/s,
      cmd update: -0.454070 deg/s,
      cmd heading: 70.307132 deg,
      new cmd heading: 69.971986 deg.

2021-01-28T00:48:00.402Z,1611794880.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:01.186Z,1611794881.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:01.231Z,1611794881.231 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:48:01.247Z,1611794881.247 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-01-28T00:48:01.592Z,1611794881.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:01.959Z,1611794881.959 [DDM](FAULT): Failed to extend whisker before timeout.
2021-01-28T00:48:01.959Z,1611794881.959 [DDM] Hardware Fault, FailCount= 1
2021-01-28T00:48:01.959Z,1611794881.959 [DDM](ERROR): Hardware Fault
2021-01-28T00:48:02.183Z,1611794882.183 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-28T00:48:02.379Z,1611794882.379 [DDM](INFO): Powering down
2021-01-28T00:48:02.473Z,1611794882.473 [Micromodem](INFO): Nmea in: $SNTTA,0.014265,,,,004802.93*40

2021-01-28T00:48:02.495Z,1611794882.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.120001 m, bearing: 76.563204 deg, deltaT: 4.477013 s, approachRate: -0.522669 m/s, LOS rate: -0.140883 deg/s, posRepo size: 4
2021-01-28T00:48:02.516Z,1611794882.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.12 m.
2021-01-28T00:48:02.518Z,1611794882.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.120001 m,
      bearing: 76.563204 deg,
      approachRate: -0.522669 m/s,
      LOS rate: -0.140883 deg/s,
      cmd update: -0.563531 deg/s,
      cmd heading: 68.274246 deg,
      new cmd heading: 68.077948 deg.

2021-01-28T00:48:03.347Z,1611794883.347 [CBIT](INFO): Clearing failed state for component DDM
2021-01-28T00:48:03.347Z,1611794883.347 [DDM] No Fault, FailCount= 1
2021-01-28T00:48:04.806Z,1611794884.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:05.603Z,1611794885.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:06.021Z,1611794886.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:06.039Z,1611794886.039 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:48:06.829Z,1611794886.829 [Micromodem](INFO): Nmea in: $SNTTA,0.012664,,,,004807.34*4B

2021-01-28T00:48:06.926Z,1611794886.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 75.414892 deg, deltaT: 4.378006 s, approachRate: -0.534491 m/s, LOS rate: -0.262291 deg/s, posRepo size: 4
2021-01-28T00:48:06.927Z,1611794886.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.78 m.
2021-01-28T00:48:06.933Z,1611794886.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.779997 m,
      bearing: 75.414892 deg,
      approachRate: -0.534491 m/s,
      LOS rate: -0.262291 deg/s,
      cmd update: -1.049164 deg/s,
      cmd heading: 65.807226 deg,
      new cmd heading: 65.533770 deg.

2021-01-28T00:48:07.613Z,1611794887.613 [DDM](INFO): Powering up
2021-01-28T00:48:07.614Z,1611794887.614 [DDM](DEBUG): Initializing DDM.
2021-01-28T00:48:08.974Z,1611794888.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:09.642Z,1611794889.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:10.052Z,1611794890.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:10.933Z,1611794890.933 [Micromodem](INFO): Nmea in: $SNTTA,0.011292,,,0.029258,004811.38*54

2021-01-28T00:48:10.940Z,1611794890.940 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-28T00:48:10.959Z,1611794890.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.740000 m, bearing: 75.606362 deg, deltaT: 4.030504 s, approachRate: -0.506139 m/s, LOS rate: 0.047505 deg/s, posRepo size: 4
2021-01-28T00:48:10.960Z,1611794890.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 16.74 m.
2021-01-28T00:48:10.962Z,1611794890.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.740000 m,
      bearing: 75.606362 deg,
      approachRate: -0.506139 m/s,
      LOS rate: 0.047505 deg/s,
      cmd update: 0.190022 deg/s,
      cmd heading: 61.574258 deg,
      new cmd heading: 61.066620 deg.

2021-01-28T00:48:13.294Z,1611794893.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:14.087Z,1611794894.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:14.486Z,1611794894.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:15.317Z,1611794895.317 [Micromodem](INFO): Nmea in: $SNTTA,0.009695,,,0.012194,004815.83*51

2021-01-28T00:48:15.355Z,1611794895.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.339997 m, bearing: 75.662950 deg, deltaT: 4.494605 s, approachRate: -0.533974 m/s, LOS rate: 0.012590 deg/s, posRepo size: 4
2021-01-28T00:48:15.356Z,1611794895.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.34 m.
2021-01-28T00:48:15.358Z,1611794895.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.339997 m,
      bearing: 75.662950 deg,
      approachRate: -0.533974 m/s,
      LOS rate: 0.012590 deg/s,
      cmd update: 0.050361 deg/s,
      cmd heading: 62.425312 deg,
      new cmd heading: 62.501526 deg.

2021-01-28T00:48:16.208Z,1611794896.208 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-01-28T00:48:16.208Z,1611794896.208 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-01-28T00:48:16.208Z,1611794896.208 [RDI_PathfinderUp](ERROR): Communications Fault
2021-01-28T00:48:16.371Z,1611794896.371 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-01-28T00:48:16.588Z,1611794896.588 [RDI_PathfinderUp](INFO): Powering down
2021-01-28T00:48:17.471Z,1611794897.471 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-01-28T00:48:17.472Z,1611794897.472 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-01-28T00:48:17.750Z,1611794897.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:18.525Z,1611794898.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:18.952Z,1611794898.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:19.753Z,1611794899.753 [Micromodem](INFO): Nmea in: $SNTTA,0.008191,,,,004820.26*4B

2021-01-28T00:48:19.795Z,1611794899.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 77.009078 deg, deltaT: 4.377322 s, approachRate: -0.520867 m/s, LOS rate: 0.307523 deg/s, posRepo size: 4
2021-01-28T00:48:19.796Z,1611794899.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.06 m.
2021-01-28T00:48:19.798Z,1611794899.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 77.009078 deg,
      approachRate: -0.520867 m/s,
      LOS rate: 0.307523 deg/s,
      cmd update: 1.230093 deg/s,
      cmd heading: 62.646563 deg,
      new cmd heading: 62.669115 deg.

2021-01-28T00:48:22.203Z,1611794902.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:22.971Z,1611794902.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:23.370Z,1611794903.370 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-28T00:48:23.496Z,1611794903.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:24.245Z,1611794904.245 [Micromodem](INFO): Nmea in: $SNTTA,0.006680,,,,004824.71*44

2021-01-28T00:48:24.284Z,1611794904.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.780002 m, bearing: 77.987803 deg, deltaT: 4.488008 s, approachRate: -0.508019 m/s, LOS rate: 0.218076 deg/s, posRepo size: 4
2021-01-28T00:48:24.285Z,1611794904.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 9.78 m.
2021-01-28T00:48:24.292Z,1611794904.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.780002 m,
      bearing: 77.987803 deg,
      approachRate: -0.508019 m/s,
      LOS rate: 0.218076 deg/s,
      cmd update: 0.872302 deg/s,
      cmd heading: 68.167071 deg,
      new cmd heading: 68.719138 deg.

2021-01-28T00:48:26.280Z,1611794906.280 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-01-28T00:48:26.280Z,1611794906.280 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-01-28T00:48:26.280Z,1611794906.280 [RDI_Pathfinder](ERROR): Communications Fault
2021-01-28T00:48:26.349Z,1611794906.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:26.460Z,1611794906.460 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-01-28T00:48:26.728Z,1611794906.728 [RDI_Pathfinder](INFO): Powering down
2021-01-28T00:48:27.047Z,1611794907.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:27.448Z,1611794907.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:27.575Z,1611794907.575 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-01-28T00:48:27.576Z,1611794907.576 [RDI_Pathfinder] No Fault, FailCount= 1
2021-01-28T00:48:28.289Z,1611794908.289 [Micromodem](INFO): Nmea in: $SNTTA,0.005366,,,,004828.79*4E

2021-01-28T00:48:28.311Z,1611794908.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 80.278246 deg, deltaT: 4.039925 s, approachRate: -0.504960 m/s, LOS rate: 0.566952 deg/s, posRepo size: 4
2021-01-28T00:48:28.312Z,1611794908.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 7.74 m.
2021-01-28T00:48:28.314Z,1611794908.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 80.278246 deg,
      approachRate: -0.504960 m/s,
      LOS rate: 0.566952 deg/s,
      cmd update: 2.267807 deg/s,
      cmd heading: 71.691154 deg,
      new cmd heading: 72.071298 deg.

2021-01-28T00:48:30.697Z,1611794910.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:31.494Z,1611794911.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:31.968Z,1611794911.968 [DDM](ERROR): Could not parse whisker state
2021-01-28T00:48:31.988Z,1611794911.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:32.781Z,1611794912.781 [Micromodem](INFO): Nmea in: $SNTTA,0.003839,,,,004833.23*4C

2021-01-28T00:48:32.820Z,1611794912.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.520000 m, bearing: 80.256417 deg, deltaT: 4.436229 s, approachRate: -0.500425 m/s, LOS rate: -0.004921 deg/s, posRepo size: 4
2021-01-28T00:48:32.820Z,1611794912.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 5.52 m.
2021-01-28T00:48:32.822Z,1611794912.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 80.256417 deg,
      approachRate: -0.500425 m/s,
      LOS rate: -0.004921 deg/s,
      cmd update: -0.019683 deg/s,
      cmd heading: 81.751853 deg,
      new cmd heading: 82.903715 deg.

2021-01-28T00:48:34.839Z,1611794914.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:35.616Z,1611794915.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:35.997Z,1611794915.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:36.826Z,1611794916.826 [Micromodem](INFO): Nmea in: $SNTTA,0.002659,,,0.049314,004837.35*53

2021-01-28T00:48:36.881Z,1611794916.881 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-28T00:48:36.882Z,1611794916.882 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:48:36.882Z,1611794916.882 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-28T00:48:36.882Z,1611794916.882 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:48:36.882Z,1611794916.882 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-28T00:48:36.883Z,1611794916.883 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.660000 m 
2021-01-28T00:48:36.883Z,1611794916.883 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-28T00:48:36.883Z,1611794916.883 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-28T00:48:36.883Z,1611794916.883 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-28T00:48:36.898Z,1611794916.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.660000 m, bearing: 76.186683 deg, deltaT: 4.105341 s, approachRate: -0.453068 m/s, LOS rate: -0.991327 deg/s, posRepo size: 4
2021-01-28T00:48:36.898Z,1611794916.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 3.66 m.
2021-01-28T00:48:36.905Z,1611794916.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 76.186683 deg,
      approachRate: -0.453068 m/s,
      LOS rate: -0.991327 deg/s,
      cmd update: -3.965307 deg/s,
      cmd heading: 81.671055 deg,
      new cmd heading: 81.661798 deg.

2021-01-28T00:48:37.237Z,1611794917.237 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210128T004837: (41.551998, -70.709610)
2021-01-28T00:48:37.238Z,1611794917.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-28T00:48:37.238Z,1611794917.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-28T00:48:37.238Z,1611794917.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:48:37.238Z,1611794917.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-28T00:48:37.238Z,1611794917.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:48:37.238Z,1611794917.238 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-28T00:48:37.238Z,1611794917.238 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-28T00:48:37.238Z,1611794917.238 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:48:37.666Z,1611794917.666 [UniversalFixResidualReporter](INFO): Fix residual: 2.2 %DT, over the last 679.3 m. Residual distance 15.1 m at bearing 142.2 degrees. Fix at (41.5499, -70.7107) with 0.0 m made good.
2021-01-28T00:48:39.234Z,1611794919.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:40.031Z,1611794920.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:40.432Z,1611794920.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:41.281Z,1611794921.281 [Micromodem](INFO): Nmea in: $SNTTA,0.001829,,,,004841.77*4B

2021-01-28T00:48:41.316Z,1611794921.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 63.744612 deg, deltaT: 4.447824 s, approachRate: -0.256305 m/s, LOS rate: -2.797339 deg/s, posRepo size: 4
2021-01-28T00:48:41.317Z,1611794921.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 2.52 m.
2021-01-28T00:48:41.318Z,1611794921.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 63.744612 deg,
      approachRate: -0.256305 m/s,
      LOS rate: -2.797339 deg/s,
      cmd update: -11.189355 deg/s,
      cmd heading: 64.033549 deg,
      new cmd heading: 62.244081 deg.

2021-01-28T00:48:43.752Z,1611794923.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:44.474Z,1611794924.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:44.884Z,1611794924.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:45.749Z,1611794925.749 [Micromodem](INFO): Nmea in: $SNTTA,0.002292,,,,004846.21*46

2021-01-28T00:48:45.795Z,1611794925.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.419998 m, bearing: 53.872496 deg, deltaT: 4.443472 s, approachRate: 0.202544 m/s, LOS rate: -2.221712 deg/s, posRepo size: 4
2021-01-28T00:48:45.796Z,1611794925.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 3.42 m.
2021-01-28T00:48:45.797Z,1611794925.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 3.42 m.
2021-01-28T00:48:45.797Z,1611794925.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-28T00:48:45.798Z,1611794925.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 53.872496 deg,
      approachRate: 0.202544 m/s,
      LOS rate: -2.221712 deg/s,
      cmd update: -8.886849 deg/s,
      cmd heading: 14.310349 deg,
      new cmd heading: 8.861737 deg.

2021-01-28T00:48:48.126Z,1611794928.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:48.922Z,1611794928.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:49.324Z,1611794929.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:50.157Z,1611794930.157 [Micromodem](INFO): Nmea in: $SNTTA,0.003254,,,,004850.66*49

2021-01-28T00:48:50.191Z,1611794930.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 34.942995 deg, deltaT: 4.511478 s, approachRate: 0.319186 m/s, LOS rate: -4.195854 deg/s, posRepo size: 4
2021-01-28T00:48:50.193Z,1611794930.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 34.942995 deg,
      approachRate: 0.319186 m/s,
      LOS rate: -4.195854 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 334.253776 deg,
      new cmd heading: 330.921518 deg.

2021-01-28T00:48:52.629Z,1611794932.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:53.363Z,1611794933.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:53.779Z,1611794933.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:54.617Z,1611794934.617 [Micromodem](INFO): Nmea in: $SNTTA,0.004116,,,,004855.10*4F

2021-01-28T00:48:54.646Z,1611794934.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 65.228812 deg, deltaT: 4.381130 s, approachRate: 0.328682 m/s, LOS rate: 6.912787 deg/s, posRepo size: 4
2021-01-28T00:48:54.648Z,1611794934.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 65.228812 deg,
      approachRate: 0.328682 m/s,
      LOS rate: 6.912787 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.825822 deg,
      new cmd heading: 276.291734 deg.

2021-01-28T00:48:57.070Z,1611794937.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:48:57.806Z,1611794937.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:48:58.219Z,1611794938.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:48:59.053Z,1611794939.053 [Micromodem](INFO): Nmea in: $SNTTA,0.004898,,,,004859.55*4D

2021-01-28T00:48:59.083Z,1611794939.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.440001 m, bearing: 327.722612 deg, deltaT: 4.468840 s, approachRate: 0.255100 m/s, LOS rate: -21.819133 deg/s, posRepo size: 4
2021-01-28T00:48:59.084Z,1611794939.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 7.44 m. Rolling out.
2021-01-28T00:48:59.084Z,1611794939.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-28T00:49:01.466Z,1611794941.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:02.341Z,1611794942.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:02.670Z,1611794942.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:03.497Z,1611794943.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.460000 m, bearing: 323.350117 deg, deltaT: 4.421388 s, approachRate: 0.230697 m/s, LOS rate: -0.988942 deg/s, posRepo size: 4
2021-01-28T00:49:03.877Z,1611794943.877 [Micromodem](INFO): Nmea in: $SNTTA,0.005603,,,,004904.08*41

2021-01-28T00:49:05.967Z,1611794945.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:06.295Z,1611794946.295 [PowerOnly](INFO): Powering down loadControl
2021-01-28T00:49:06.704Z,1611794946.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:07.100Z,1611794947.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:07.941Z,1611794947.941 [Micromodem](INFO): Nmea in: $SNTTA,0.006284,,0.169660,,004908.44*5D

2021-01-28T00:49:07.989Z,1611794947.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 12.207278 deg, deltaT: 4.421801 s, approachRate: 0.244244 m/s, LOS rate: 11.049153 deg/s, posRepo size: 4
2021-01-28T00:49:10.362Z,1611794950.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:11.150Z,1611794951.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:11.559Z,1611794951.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:12.381Z,1611794952.381 [Micromodem](INFO): Nmea in: $SNTTA,0.007420,,,,004912.89*4E

2021-01-28T00:49:12.403Z,1611794952.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.439999 m, bearing: 308.824462 deg, deltaT: 4.513283 s, approachRate: 0.864116 m/s, LOS rate: -14.043614 deg/s, posRepo size: 4
2021-01-28T00:49:14.841Z,1611794954.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:15.589Z,1611794955.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:16.007Z,1611794956.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:16.837Z,1611794956.837 [Micromodem](INFO): Nmea in: $SNTTA,0.008925,,0.016419,,004917.33*58

2021-01-28T00:49:16.896Z,1611794956.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.559999 m, bearing: 339.875185 deg, deltaT: 4.386344 s, approachRate: 0.027358 m/s, LOS rate: 7.078953 deg/s, posRepo size: 4
2021-01-28T00:49:19.230Z,1611794959.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:20.030Z,1611794960.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:20.436Z,1611794960.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:21.269Z,1611794961.269 [Micromodem](INFO): Nmea in: $SNTTA,0.010654,,,,004921.77*48

2021-01-28T00:49:21.284Z,1611794961.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 305.537284 deg, deltaT: 4.471546 s, approachRate: 0.576982 m/s, LOS rate: -7.679201 deg/s, posRepo size: 4
2021-01-28T00:49:23.741Z,1611794963.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:24.470Z,1611794964.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:24.887Z,1611794964.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:25.749Z,1611794965.749 [Micromodem](INFO): Nmea in: $SNTTA,0.012552,,,,004926.21*4B

2021-01-28T00:49:25.801Z,1611794965.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 327.176662 deg, deltaT: 4.425053 s, approachRate: 0.637281 m/s, LOS rate: 4.890196 deg/s, posRepo size: 4
2021-01-28T00:49:28.128Z,1611794968.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:28.923Z,1611794968.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:29.320Z,1611794969.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:30.157Z,1611794970.157 [Micromodem](INFO): Nmea in: $SNTTA,0.015473,,,,004930.66*4A

2021-01-28T00:49:30.198Z,1611794970.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 326.367585 deg, deltaT: 4.480718 s, approachRate: 0.656145 m/s, LOS rate: -0.180569 deg/s, posRepo size: 4
2021-01-28T00:49:32.625Z,1611794972.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:33.358Z,1611794973.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:33.775Z,1611794973.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:34.609Z,1611794974.609 [Micromodem](INFO): Nmea in: $SNTTA,0.017346,,,,004935.10*4D

2021-01-28T00:49:34.641Z,1611794974.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.919998 m, bearing: 328.814650 deg, deltaT: 4.425612 s, approachRate: 0.908349 m/s, LOS rate: 0.552933 deg/s, posRepo size: 4
2021-01-28T00:49:37.043Z,1611794977.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:37.810Z,1611794977.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:38.219Z,1611794978.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:39.050Z,1611794979.050 [Micromodem](INFO): Nmea in: $SNTTA,0.018792,,0.064749,,004939.55*54

2021-01-28T00:49:39.074Z,1611794979.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.040001 m, bearing: 332.831047 deg, deltaT: 4.443229 s, approachRate: 0.702193 m/s, LOS rate: 0.903937 deg/s, posRepo size: 4
2021-01-28T00:49:41.466Z,1611794981.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:42.242Z,1611794982.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:42.656Z,1611794982.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:43.493Z,1611794983.493 [Micromodem](INFO): Nmea in: $SNTTA,0.020963,,,,004943.98*45

2021-01-28T00:49:43.515Z,1611794983.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.160004 m, bearing: 333.628458 deg, deltaT: 4.440998 s, approachRate: 0.702545 m/s, LOS rate: 0.179557 deg/s, posRepo size: 4
2021-01-28T00:49:45.966Z,1611794985.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:46.733Z,1611794986.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:47.104Z,1611794987.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:47.940Z,1611794987.940 [Micromodem](INFO): Nmea in: $SNTTA,0.023109,,0.030420,,004948.47*50

2021-01-28T00:49:48.018Z,1611794988.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 332.999862 deg, deltaT: 4.428706 s, approachRate: 0.718042 m/s, LOS rate: -0.141937 deg/s, posRepo size: 4
2021-01-28T00:49:50.348Z,1611794990.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:51.134Z,1611794991.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:51.541Z,1611794991.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:52.381Z,1611794992.381 [Micromodem](INFO): Nmea in: $SNTTA,0.025169,,,,004952.87*4C

2021-01-28T00:49:52.403Z,1611794992.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.340000 m, bearing: 329.224653 deg, deltaT: 4.487359 s, approachRate: 0.668545 m/s, LOS rate: -0.841299 deg/s, posRepo size: 4
2021-01-28T00:49:54.835Z,1611794994.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:49:55.585Z,1611794995.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:49:56.018Z,1611794996.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:49:56.041Z,1611794996.041 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T00:49:56.825Z,1611794996.825 [Micromodem](INFO): Nmea in: $SNTTA,0.027303,,,,004957.32*4B

2021-01-28T00:49:56.873Z,1611794996.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 338.150645 deg, deltaT: 4.418422 s, approachRate: 0.733293 m/s, LOS rate: 2.020176 deg/s, posRepo size: 4
2021-01-28T00:49:59.230Z,1611794999.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:00.035Z,1611795000.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:00.432Z,1611795000.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:01.269Z,1611795001.269 [Micromodem](INFO): Nmea in: $SNTTA,0.029424,,,,005001.77*4D

2021-01-28T00:50:01.306Z,1611795001.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.759998 m, bearing: 342.827193 deg, deltaT: 4.461796 s, approachRate: 0.712718 m/s, LOS rate: 1.048131 deg/s, posRepo size: 4
2021-01-28T00:50:03.736Z,1611795003.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:04.466Z,1611795004.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:04.890Z,1611795004.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:05.735Z,1611795005.735 [Micromodem](INFO): Nmea in: $SNTTA,0.031556,,,0.034068,005006.21*53

2021-01-28T00:50:05.789Z,1611795005.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.459999 m, bearing: 345.186996 deg, deltaT: 4.425796 s, approachRate: 0.610060 m/s, LOS rate: 0.533193 deg/s, posRepo size: 4
2021-01-28T00:50:08.143Z,1611795008.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:08.914Z,1611795008.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:09.324Z,1611795009.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:10.178Z,1611795010.178 [Micromodem](INFO): Nmea in: $SNTTA,0.033673,,,,005010.65*45

2021-01-28T00:50:10.223Z,1611795010.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 343.469477 deg, deltaT: 4.458514 s, approachRate: 0.713241 m/s, LOS rate: -0.385222 deg/s, posRepo size: 4
2021-01-28T00:50:12.612Z,1611795012.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:13.359Z,1611795013.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:13.784Z,1611795013.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:14.613Z,1611795014.613 [Micromodem](INFO): Nmea in: $SNTTA,0.035805,,,,005015.10*4B

2021-01-28T00:50:14.645Z,1611795014.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.820000 m, bearing: 341.964322 deg, deltaT: 4.400810 s, approachRate: 0.722595 m/s, LOS rate: -0.342018 deg/s, posRepo size: 4
2021-01-28T00:50:17.049Z,1611795017.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:17.798Z,1611795017.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:18.204Z,1611795018.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:18.739Z,1611795018.739 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-28T00:50:18.739Z,1611795018.739 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-28T00:50:18.739Z,1611795018.739 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-28T00:50:18.739Z,1611795018.739 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T00:50:18.739Z,1611795018.739 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-28T00:50:19.149Z,1611795019.149 [Micromodem](INFO): Nmea in: $SNTTA,0.038071,,,,005019.54*41

2021-01-28T00:50:19.231Z,1611795019.231 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160330001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-01-28T00:50:19.231Z,1611795019.231 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E672198ADF3FD0AD456120FFB3C32744C0A36F26AB1F4F336
2021-01-28T00:50:19.232Z,1611795019.232 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 32A1961F43043FEEC4B68985D16B9EA6062FB11B548CB87E9E8F872B4C10AF92F63E6DB42FB92A3A0A66B9C34E231980A5D6FC59FD16DAA0A7F5F3F036C025B3
2021-01-28T00:50:19.233Z,1611795019.233 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-01-28T00:50:19.315Z,1611795019.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.240005 m, bearing: 348.521932 deg, deltaT: 4.552871 s, approachRate: 0.751176 m/s, LOS rate: 1.440324 deg/s, posRepo size: 4
2021-01-28T00:50:20.361Z,1611795020.361 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-01-28T00:50:20.796Z,1611795020.796 [Micromodem](INFO): Nmea in: $CADRQ,005020,1,10,0,64,1*71

2021-01-28T00:50:20.797Z,1611795020.797 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160330001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*44

2021-01-28T00:50:21.208Z,1611795021.208 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:50:21.244Z,1611795021.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:21.651Z,1611795021.651 [Micromodem](INFO): Nmea in: $CADRQ,005022,1,10,0,64,2*70

2021-01-28T00:50:21.653Z,1611795021.653 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E672198ADF3FD0AD456120FFB3C32744C0A36F26AB1F4F336*30

2021-01-28T00:50:22.021Z,1611795022.021 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:50:22.022Z,1611795022.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:22.414Z,1611795022.414 [Micromodem](INFO): Nmea in: $CADRQ,005023,1,10,0,64,3*70

2021-01-28T00:50:22.415Z,1611795022.415 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,005023,1,10,0,64,3*70

2021-01-28T00:50:22.818Z,1611795022.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:23.253Z,1611795023.253 [Micromodem](INFO): Nmea in: $SNTTA,0.040122,0.345274,,,005023.76*5D

2021-01-28T00:50:23.300Z,1611795023.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 311.925013 deg, deltaT: 4.181931 s, approachRate: 0.832151 m/s, LOS rate: -8.751201 deg/s, posRepo size: 4
2021-01-28T00:50:25.735Z,1611795025.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:26.454Z,1611795026.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:26.862Z,1611795026.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:27.695Z,1611795027.695 [Micromodem](INFO): Nmea in: $SNTTA,0.042457,,,,005028.19*47

2021-01-28T00:50:28.549Z,1611795028.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:30.089Z,1611795030.089 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:50:31.341Z,1611795031.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:31.833Z,1611795031.833 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T00:50:32.128Z,1611795032.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:32.530Z,1611795032.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:33.357Z,1611795033.357 [Micromodem](INFO): Nmea in: $SNTTA,0.045303,,,,005033.87*4B

2021-01-28T00:50:33.391Z,1611795033.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.520004 m, bearing: 354.509194 deg, deltaT: 10.097699 s, approachRate: 0.772453 m/s, LOS rate: 4.217216 deg/s, posRepo size: 4
2021-01-28T00:50:35.823Z,1611795035.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:36.566Z,1611795036.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:36.960Z,1611795036.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:37.812Z,1611795037.812 [Micromodem](INFO): Nmea in: $SNTTA,0.047527,,0.052589,,005038.30*53

2021-01-28T00:50:37.884Z,1611795037.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 348.594824 deg, deltaT: 4.370968 s, approachRate: 0.768709 m/s, LOS rate: -1.353103 deg/s, posRepo size: 4
2021-01-28T00:50:40.320Z,1611795040.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:41.026Z,1611795041.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:41.409Z,1611795041.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:42.241Z,1611795042.241 [Micromodem](INFO): Nmea in: $SNTTA,0.049770,,,,005042.77*4E

2021-01-28T00:50:42.267Z,1611795042.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.059998 m, bearing: 298.092514 deg, deltaT: 4.490458 s, approachRate: 0.708167 m/s, LOS rate: -11.246584 deg/s, posRepo size: 4
2021-01-28T00:50:44.816Z,1611795044.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:45.443Z,1611795045.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:45.858Z,1611795045.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:46.704Z,1611795046.704 [Micromodem](INFO): Nmea in: $SNTTA,0.051987,,,,005047.18*4D

2021-01-28T00:50:46.856Z,1611795046.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.480003 m, bearing: 322.912219 deg, deltaT: 4.452421 s, approachRate: 0.768123 m/s, LOS rate: 5.574429 deg/s, posRepo size: 4
2021-01-28T00:50:49.102Z,1611795049.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:49.890Z,1611795049.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:50.297Z,1611795050.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:50:51.137Z,1611795051.137 [Micromodem](INFO): Nmea in: $SNTTA,0.054280,,,,005051.63*4F

2021-01-28T00:50:51.285Z,1611795051.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 352.737661 deg, deltaT: 4.450623 s, approachRate: 0.808875 m/s, LOS rate: 6.701408 deg/s, posRepo size: 4
2021-01-28T00:50:52.329Z,1611795052.329 [Micromodem](INFO): Nmea in: $CAERR,005053,DATA_TIMEOUT,3*4F

2021-01-28T00:50:52.753Z,1611795052.753 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-01-28T00:50:53.542Z,1611795053.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:54.331Z,1611795054.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:50:55.142Z,1611795055.142 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-01-28T00:50:55.142Z,1611795055.142 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-01-28T00:50:55.547Z,1611795055.547 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,005053.445294,3,0,200,4000,14500,1,1,10,1,3,2,3,128*7A

2021-01-28T00:50:55.547Z,1611795055.547 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,005053.445294,3,0,200,4000,14500,1,1,10,1,3,2,3,128*7A

2021-01-28T00:50:56.056Z,1611795056.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:50:57.606Z,1611795057.606 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T00:50:57.978Z,1611795057.978 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-28T00:50:58.378Z,1611795058.378 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128005058.188226,06,2345,33,0156,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,4.0,3.00,05,0.00,-01,-1.30,40,14500,4000*62

2021-01-28T00:50:58.378Z,1611795058.378 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128005058.188226,06,2345,33,0156,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,4.0,3.00,05,0.00,-01,-1.30,40,14500,4000*62

2021-01-28T00:50:58.856Z,1611795058.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:01.654Z,1611795061.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:04.162Z,1611795064.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:05.654Z,1611795065.654 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:06.088Z,1611795066.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:51:06.893Z,1611795066.893 [Micromodem](INFO): Nmea in: $SNTTA,0.062189,,,,005107.39*4D

2021-01-28T00:51:06.939Z,1611795066.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 332.435197 deg, deltaT: 15.691031 s, approachRate: 0.722706 m/s, LOS rate: -1.293890 deg/s, posRepo size: 4
2021-01-28T00:51:09.313Z,1611795069.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:10.094Z,1611795070.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:10.496Z,1611795070.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:51:11.355Z,1611795071.355 [Micromodem](INFO): Nmea in: $SNTTA,0.064460,,,,005111.83*4F

2021-01-28T00:51:11.796Z,1611795071.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.179993 m, bearing: 353.912672 deg, deltaT: 4.901253 s, approachRate: 40.960953 m/s, LOS rate: 4.382038 deg/s, posRepo size: 4
2021-01-28T00:51:11.797Z,1611795071.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 294.18 m. Resuming terminal guidance.
2021-01-28T00:51:11.797Z,1611795071.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-28T00:51:14.146Z,1611795074.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:14.942Z,1611795074.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:15.359Z,1611795075.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:51:16.193Z,1611795076.193 [Micromodem](INFO): Nmea in: $SNTTA,0.066942,,,,005116.68*42

2021-01-28T00:51:16.215Z,1611795076.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.920006 m, bearing: 351.422932 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-28T00:51:16.216Z,1611795076.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 351.422932deg and heading rate command to 0 deg/s.
2021-01-28T00:51:18.661Z,1611795078.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:19.390Z,1611795079.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:19.796Z,1611795079.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:51:19.838Z,1611795079.838 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T00:51:20.650Z,1611795080.650 [Micromodem](INFO): Nmea in: $SNTTA,0.069251,,,,005121.13*4C

2021-01-28T00:51:20.682Z,1611795080.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.980003 m, bearing: 326.459820 deg, deltaT: 4.428045 s, approachRate: 0.691049 m/s, LOS rate: -5.637502 deg/s, posRepo size: 2
2021-01-28T00:51:20.689Z,1611795080.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.980003 m,
      bearing: 326.459820 deg,
      approachRate: 0.691049 m/s,
      LOS rate: -5.637502 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 351.422932 deg,
      new cmd heading: 351.422932 deg.

2021-01-28T00:51:23.072Z,1611795083.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:23.842Z,1611795083.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:24.236Z,1611795084.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:51:24.248Z,1611795084.248 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-28T00:51:24.782Z,1611795084.782 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160330001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-01-28T00:51:24.783Z,1611795084.783 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E672198ADF3FD0AD456120FFB3C32744C0A36F26AB1F4F336
2021-01-28T00:51:24.783Z,1611795084.783 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 32A1961F43043FEEC4B68985D16B9EA6062FB11B548CB87E9E8F872B4C10AF92F63E6DB42FB92A3A0A66B9C34E231980A5D6FC59FD16DAA0A7F5F3F036C025B3
2021-01-28T00:51:24.783Z,1611795084.783 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-01-28T00:51:25.081Z,1611795085.081 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-01-28T00:51:25.119Z,1611795085.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 343.384318 deg, deltaT: 4.612004 s, approachRate: 0.702514 m/s, LOS rate: 3.669663 deg/s, posRepo size: 3
2021-01-28T00:51:25.121Z,1611795085.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.220001 m,
      bearing: 343.384318 deg,
      approachRate: 0.702514 m/s,
      LOS rate: 3.669663 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 296.078739 deg,
      new cmd heading: 293.129306 deg.

2021-01-28T00:51:25.474Z,1611795085.474 [Micromodem](INFO): Nmea in: $CADRQ,005126,1,10,0,64,1*76

2021-01-28T00:51:25.475Z,1611795085.475 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160330001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*44

2021-01-28T00:51:25.917Z,1611795085.917 [Micromodem](INFO): Nmea in: $SNTTA,0.071436,,,,005125.58*49

2021-01-28T00:51:25.917Z,1611795085.917 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.071436,,,,005125.58*49

2021-01-28T00:51:27.121Z,1611795087.121 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:51:27.527Z,1611795087.527 [Micromodem](INFO): Nmea in: $CADRQ,005127,1,10,0,64,2*74

2021-01-28T00:51:27.527Z,1611795087.527 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E672198ADF3FD0AD456120FFB3C32744C0A36F26AB1F4F336*30

2021-01-28T00:51:27.643Z,1611795087.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:27.922Z,1611795087.922 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:51:28.330Z,1611795088.330 [Micromodem](INFO): Nmea in: $CADRQ,005129,1,10,0,64,3*7B

2021-01-28T00:51:28.331Z,1611795088.331 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,32A1961F43043FEEC4B68985D16B9EA6062FB11B548CB87E9E8F872B4C10AF92F63E6DB42FB92A3A0A66B9C34E231980A5D6FC59FD16DAA0A7F5F3F036C025B3*4A

2021-01-28T00:51:28.770Z,1611795088.770 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T00:51:28.770Z,1611795088.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:29.130Z,1611795089.130 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-01-28T00:51:29.130Z,1611795089.130 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-01-28T00:51:30.398Z,1611795090.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:32.782Z,1611795092.782 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-01-28T00:51:32.783Z,1611795092.783 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-01-28T00:51:33.187Z,1611795093.187 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,005130.117345,3,0,200,4000,14500,1,1,10,1,3,3,3,192*71

2021-01-28T00:51:33.188Z,1611795093.188 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,005130.117345,3,0,200,4000,14500,1,1,10,1,3,3,3,192*71

2021-01-28T00:51:33.258Z,1611795093.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:36.146Z,1611795096.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:36.425Z,1611795096.425 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T00:51:36.814Z,1611795096.814 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-28T00:51:37.218Z,1611795097.218 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-01-28T00:51:37.219Z,1611795097.219 [Micromodem](INFO): Sent 184 bytes from file Logs/20210127T223404/Courier0051.lzma.parts
2021-01-28T00:51:37.219Z,1611795097.219 [Micromodem](INFO): Packets left to send: 1
2021-01-28T00:51:37.653Z,1611795097.653 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128005136.761199,06,3997,36,0245,0150,59,02,02,00,03,1,010,001,0,4,1,0,150,11.3,3.00,07,0.00,-01,-1.32,39,14500,4000*53

2021-01-28T00:51:37.654Z,1611795097.654 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128005136.761199,06,3997,36,0245,0150,59,02,02,00,03,1,010,001,0,4,1,0,150,11.3,3.00,07,0.00,-01,-1.32,39,14500,4000*53

2021-01-28T00:51:37.786Z,1611795097.786 [Micromodem](INFO): Using rate 1 for 20 bytes.
2021-01-28T00:51:37.786Z,1611795097.786 [Micromodem](INFO): Outgoing frame #1, 20 bytes: 5CEA116033000000FEAFDC609157B4C8135EAC00
2021-01-28T00:51:38.938Z,1611795098.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:40.054Z,1611795100.054 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:40.463Z,1611795100.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:51:40.476Z,1611795100.476 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-28T00:51:40.856Z,1611795100.856 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-28T00:51:41.277Z,1611795101.277 [Micromodem](INFO): Nmea in: $CADRQ,005142,1,10,0,64,1*74

2021-01-28T00:51:41.278Z,1611795101.278 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-01-28T00:51:41.278Z,1611795101.278 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA116033000000FEAFDC609157B4C8135EAC00*4F

2021-01-28T00:51:41.443Z,1611795101.443 [Micromodem](INFO): Using rate 0 for 20 bytes.
2021-01-28T00:51:41.444Z,1611795101.444 [Micromodem](INFO): Outgoing frame #1, 20 bytes: 5CEA116033000000FEAFDC609157B4C8135EAC00
2021-01-28T00:51:41.459Z,1611795101.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 350.995744 deg, deltaT: 16.038834 s, approachRate: 0.763148 m/s, LOS rate: 0.474562 deg/s, posRepo size: 4
2021-01-28T00:51:41.477Z,1611795101.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.459999 m,
      bearing: 350.995744 deg,
      approachRate: 0.763148 m/s,
      LOS rate: 0.474562 deg/s,
      cmd update: 1.898249 deg/s,
      cmd heading: 128.543083 deg,
      new cmd heading: 135.102199 deg.

2021-01-28T00:51:41.685Z,1611795101.685 [Micromodem](INFO): Nmea in: $SNTTA,0.079398,,0.094447,,005141.79*57

2021-01-28T00:51:41.686Z,1611795101.686 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.079398,,0.094447,,005141.79*57

2021-01-28T00:51:42.885Z,1611795102.885 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,20*49

2021-01-28T00:51:42.885Z,1611795102.885 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-28T00:51:43.297Z,1611795103.297 [Micromodem](INFO): Nmea in: $CATXP,20*70

2021-01-28T00:51:43.297Z,1611795103.297 [Micromodem](ERROR): Response from modem unexpected: $CATXP,20*70

2021-01-28T00:51:43.696Z,1611795103.696 [Micromodem](INFO): Nmea in: $CATXF,20*66

2021-01-28T00:51:43.697Z,1611795103.697 [Micromodem](ERROR): Response from modem unexpected: $CATXF,20*66

2021-01-28T00:51:43.773Z,1611795103.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:44.095Z,1611795104.095 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,005142.993691,3,0,200,4000,14500,1,1,10,1,1,1,3,20*44

2021-01-28T00:51:44.096Z,1611795104.096 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,005142.993691,3,0,200,4000,14500,1,1,10,1,1,1,3,20*44

2021-01-28T00:51:46.531Z,1611795106.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:49.453Z,1611795109.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:52.198Z,1611795112.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:54.190Z,1611795114.190 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-01-28T00:51:54.607Z,1611795114.607 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-28T00:51:54.612Z,1611795114.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:54.752Z,1611795114.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:55.006Z,1611795115.006 [Micromodem](INFO): Nmea in: $CADRQ,005155,1,10,0,64,1*72

2021-01-28T00:51:55.006Z,1611795115.006 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,005155,1,10,0,64,1*72

2021-01-28T00:51:55.406Z,1611795115.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:51:55.821Z,1611795115.821 [Micromodem](INFO): Nmea in: $SNTTA,0.084429,,,,005156.35*42

2021-01-28T00:51:55.961Z,1611795115.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.660004 m, bearing: 89.789448 deg, deltaT: 14.537028 s, approachRate: 0.495287 m/s, LOS rate: 6.796004 deg/s, posRepo size: 4
2021-01-28T00:51:55.963Z,1611795115.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.660004 m,
      bearing: 89.789448 deg,
      approachRate: 0.495287 m/s,
      LOS rate: 6.796004 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.138237 deg,
      new cmd heading: 157.109004 deg.

2021-01-28T00:51:57.967Z,1611795117.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:51:58.658Z,1611795118.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:51:59.045Z,1611795119.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:51:59.859Z,1611795119.859 [Micromodem](INFO): Nmea in: $SNTTA,0.084930,,,,005200.40*45

2021-01-28T00:51:59.928Z,1611795119.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.380005 m, bearing: 102.558733 deg, deltaT: 4.016105 s, approachRate: 0.179278 m/s, LOS rate: 3.179520 deg/s, posRepo size: 4
2021-01-28T00:51:59.930Z,1611795119.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.380005 m,
      bearing: 102.558733 deg,
      approachRate: 0.179278 m/s,
      LOS rate: 3.179520 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 204.331990 deg,
      new cmd heading: 209.882206 deg.

2021-01-28T00:52:02.381Z,1611795122.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:03.083Z,1611795123.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:03.485Z,1611795123.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:04.325Z,1611795124.325 [Micromodem](INFO): Nmea in: $SNTTA,0.084916,,,,005204.82*4B

2021-01-28T00:52:04.440Z,1611795124.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 28.734780 deg, deltaT: 4.600237 s, approachRate: 0.052169 m/s, LOS rate: -16.047857 deg/s, posRepo size: 4
2021-01-28T00:52:04.440Z,1611795124.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.047857 deg/s. Setting heading cmd to target bearing of 28.734780deg and heading rate command to 0 deg/s.
2021-01-28T00:52:06.810Z,1611795126.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:07.518Z,1611795127.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:07.932Z,1611795127.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:08.769Z,1611795128.769 [Micromodem](INFO): Nmea in: $SNTTA,0.084485,,,,005209.26*4F

2021-01-28T00:52:08.937Z,1611795128.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.780006 m, bearing: 93.903408 deg, deltaT: 4.309456 s, approachRate: -0.194918 m/s, LOS rate: 15.122239 deg/s, posRepo size: 4
2021-01-28T00:52:08.938Z,1611795128.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.122239 deg/s. Setting heading cmd to target bearing of 93.903408deg and heading rate command to 0 deg/s.
2021-01-28T00:52:10.913Z,1611795130.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:11.610Z,1611795131.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:11.990Z,1611795131.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:12.821Z,1611795132.821 [Micromodem](INFO): Nmea in: $SNTTA,0.084258,,,,005213.35*40

2021-01-28T00:52:12.875Z,1611795132.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 107.457508 deg, deltaT: 4.042094 s, approachRate: -0.103906 m/s, LOS rate: 3.353237 deg/s, posRepo size: 4
2021-01-28T00:52:12.878Z,1611795132.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.360008 m,
      bearing: 107.457508 deg,
      approachRate: -0.103906 m/s,
      LOS rate: 3.353237 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 93.903408 deg,
      new cmd heading: 93.903408 deg.

2021-01-28T00:52:15.354Z,1611795135.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:16.046Z,1611795136.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:16.436Z,1611795136.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:17.259Z,1611795137.259 [Micromodem](INFO): Nmea in: $SNTTA,0.084789,,,,005217.80*43

2021-01-28T00:52:18.100Z,1611795138.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:19.665Z,1611795139.665 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:52:20.929Z,1611795140.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:21.703Z,1611795141.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:22.093Z,1611795142.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:22.929Z,1611795142.929 [Micromodem](INFO): Nmea in: $SNTTA,0.086432,,,,005223.44*4D

2021-01-28T00:52:23.027Z,1611795143.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 53.264192 deg, deltaT: 10.102172 s, approachRate: 0.338540 m/s, LOS rate: -5.364521 deg/s, posRepo size: 4
2021-01-28T00:52:23.029Z,1611795143.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.779999 m,
      bearing: 53.264192 deg,
      approachRate: 0.338540 m/s,
      LOS rate: -5.364521 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 215.132020 deg,
      new cmd heading: 221.228537 deg.

2021-01-28T00:52:24.541Z,1611795144.541 [Micromodem](INFO): Nmea in: $CAERR,005225,DATA_TIMEOUT,1*4E

2021-01-28T00:52:25.025Z,1611795145.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:25.774Z,1611795145.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:26.160Z,1611795146.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:26.975Z,1611795146.975 [Micromodem](INFO): Nmea in: $SNTTA,0.087273,,,,005227.51*4F

2021-01-28T00:52:27.043Z,1611795147.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.919998 m, bearing: 84.759007 deg, deltaT: 4.100664 s, approachRate: 0.278004 m/s, LOS rate: 7.680418 deg/s, posRepo size: 4
2021-01-28T00:52:27.060Z,1611795147.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.919998 m,
      bearing: 84.759007 deg,
      approachRate: 0.278004 m/s,
      LOS rate: 7.680418 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 165.970346 deg,
      new cmd heading: 160.840922 deg.

2021-01-28T00:52:29.433Z,1611795149.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:30.191Z,1611795150.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:30.624Z,1611795150.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:31.436Z,1611795151.436 [Micromodem](INFO): Nmea in: $SNTTA,0.087667,,,,005231.93*47

2021-01-28T00:52:31.479Z,1611795151.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.460007 m, bearing: 109.390056 deg, deltaT: 4.430841 s, approachRate: 0.121875 m/s, LOS rate: 5.559001 deg/s, posRepo size: 4
2021-01-28T00:52:31.505Z,1611795151.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.460007 m,
      bearing: 109.390056 deg,
      approachRate: 0.121875 m/s,
      LOS rate: 5.559001 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 219.186651 deg,
      new cmd heading: 224.326983 deg.

2021-01-28T00:52:33.873Z,1611795153.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:34.650Z,1611795154.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:35.048Z,1611795155.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:35.857Z,1611795155.857 [Micromodem](INFO): Nmea in: $SNTTA,0.088016,,,,005236.39*4F

2021-01-28T00:52:35.933Z,1611795155.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.759995 m, bearing: 29.120641 deg, deltaT: 4.421345 s, approachRate: 0.067850 m/s, LOS rate: -18.154976 deg/s, posRepo size: 4
2021-01-28T00:52:35.933Z,1611795155.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.154976 deg/s. Setting heading cmd to target bearing of 29.120641deg and heading rate command to 0 deg/s.
2021-01-28T00:52:38.299Z,1611795158.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:39.075Z,1611795159.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:39.490Z,1611795159.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:40.321Z,1611795160.321 [Micromodem](INFO): Nmea in: $SNTTA,0.087724,,,,005240.81*44

2021-01-28T00:52:40.346Z,1611795160.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 11.119524 deg, deltaT: 4.465940 s, approachRate: -0.053738 m/s, LOS rate: -4.030757 deg/s, posRepo size: 4
2021-01-28T00:52:40.349Z,1611795160.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 11.119524 deg,
      approachRate: -0.053738 m/s,
      LOS rate: -4.030757 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 29.120641 deg,
      new cmd heading: 29.120641 deg.

2021-01-28T00:52:42.774Z,1611795162.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:43.519Z,1611795163.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:43.940Z,1611795163.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:52:44.781Z,1611795164.781 [Micromodem](INFO): Nmea in: $SNTTA,0.087817,,,,005245.26*43

2021-01-28T00:52:44.839Z,1611795164.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.759995 m, bearing: 77.052682 deg, deltaT: 4.436114 s, approachRate: 0.054099 m/s, LOS rate: 14.862818 deg/s, posRepo size: 4
2021-01-28T00:52:44.844Z,1611795164.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.862818 deg/s. Setting heading cmd to target bearing of 77.052682deg and heading rate command to 0 deg/s.
2021-01-28T00:52:46.785Z,1611795166.785 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-28T00:52:47.229Z,1611795167.229 [Micromodem](INFO): Using rate 0 for 20 bytes.
2021-01-28T00:52:47.230Z,1611795167.230 [Micromodem](INFO): Outgoing frame #1, 20 bytes: 5CEA116033000000FEAFDC609157B4C8135EAC00
2021-01-28T00:52:47.230Z,1611795167.230 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-28T00:52:47.310Z,1611795167.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:47.563Z,1611795167.563 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-28T00:52:47.958Z,1611795167.958 [Micromodem](INFO): Nmea in: $CADRQ,005248,1,10,0,64,1*7D

2021-01-28T00:52:47.959Z,1611795167.959 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-01-28T00:52:47.959Z,1611795167.959 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA116033000000FEAFDC609157B4C8135EAC00*4F

2021-01-28T00:52:48.368Z,1611795168.368 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,20*49

2021-01-28T00:52:48.368Z,1611795168.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:52:48.490Z,1611795168.490 [Micromodem](INFO): Using rate 0 for 20 bytes.
2021-01-28T00:52:48.490Z,1611795168.490 [Micromodem](INFO): Outgoing frame #1, 20 bytes: 5CEA116033000000FEAFDC609157B4C8135EAC00
2021-01-28T00:52:48.777Z,1611795168.777 [Micromodem](INFO): Nmea in: $CATXP,20*70

2021-01-28T00:52:48.778Z,1611795168.778 [Micromodem](ERROR): Response from modem unexpected: $CATXP,20*70

2021-01-28T00:52:49.982Z,1611795169.982 [Micromodem](INFO): Nmea in: $CATXF,20*66

2021-01-28T00:52:49.983Z,1611795169.983 [Micromodem](ERROR): Response from modem unexpected: $CATXF,20*66

2021-01-28T00:52:50.023Z,1611795170.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:50.395Z,1611795170.395 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,005249.677818,3,0,200,4000,14500,1,1,10,1,1,1,3,20*46

2021-01-28T00:52:50.396Z,1611795170.396 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,005249.677818,3,0,200,4000,14500,1,1,10,1,1,1,3,20*46

2021-01-28T00:52:52.870Z,1611795172.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:55.693Z,1611795175.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:58.503Z,1611795178.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:52:59.684Z,1611795179.684 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:00.084Z,1611795180.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:00.096Z,1611795180.096 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-28T00:53:00.489Z,1611795180.489 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-28T00:53:00.921Z,1611795180.921 [Micromodem](INFO): Nmea in: $CADRQ,005301,1,10,0,64,1*71

2021-01-28T00:53:00.922Z,1611795180.922 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-01-28T00:53:00.922Z,1611795180.922 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA116033000000FEAFDC609157B4C8135EAC00*4F

2021-01-28T00:53:01.069Z,1611795181.069 [Micromodem](INFO): Using rate 0 for 20 bytes.
2021-01-28T00:53:01.070Z,1611795181.070 [Micromodem](INFO): Outgoing frame #1, 20 bytes: 5CEA116033000000FEAFDC609157B4C8135EAC00
2021-01-28T00:53:01.095Z,1611795181.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.720001 m, bearing: 64.791093 deg, deltaT: 16.276976 s, approachRate: 0.427598 m/s, LOS rate: -0.753309 deg/s, posRepo size: 4
2021-01-28T00:53:01.097Z,1611795181.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.720001 m,
      bearing: 64.791093 deg,
      approachRate: 0.427598 m/s,
      LOS rate: -0.753309 deg/s,
      cmd update: -3.013235 deg/s,
      cmd heading: 77.052682 deg,
      new cmd heading: 77.052682 deg.

2021-01-28T00:53:01.313Z,1611795181.313 [Micromodem](INFO): Nmea in: $SNTTA,0.092441,,,,005301.42*4B

2021-01-28T00:53:01.313Z,1611795181.313 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.092441,,,,005301.42*4B

2021-01-28T00:53:02.525Z,1611795182.525 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,20*49

2021-01-28T00:53:02.525Z,1611795182.525 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-28T00:53:02.949Z,1611795182.949 [Micromodem](INFO): Nmea in: $CATXP,20*70

2021-01-28T00:53:02.949Z,1611795182.949 [Micromodem](ERROR): Response from modem unexpected: $CATXP,20*70

2021-01-28T00:53:03.330Z,1611795183.330 [Micromodem](INFO): Nmea in: $CATXF,20*66

2021-01-28T00:53:03.330Z,1611795183.330 [Micromodem](ERROR): Response from modem unexpected: $CATXF,20*66

2021-01-28T00:53:03.347Z,1611795183.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:03.758Z,1611795183.758 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,005302.638035,3,0,200,4000,14500,1,1,10,1,1,1,3,20*44

2021-01-28T00:53:03.758Z,1611795183.758 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,005302.638035,3,0,200,4000,14500,1,1,10,1,1,1,3,20*44

2021-01-28T00:53:04.950Z,1611795184.950 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T00:53:04.951Z,1611795184.951 [Micromodem](INFO): Sent 12 bytes from file Logs/20210127T223404/Courier0051.lzma.parts
2021-01-28T00:53:04.951Z,1611795184.951 [Micromodem](INFO): Packets left to send: 0
2021-01-28T00:53:05.349Z,1611795185.349 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128005305.548002,06,6135,37,0277,0150,37,02,02,00,04,1,010,001,0,4,1,0,150,16.1,6.00,13,-3.00,-01,-0.25,34,14500,4000*70

2021-01-28T00:53:05.350Z,1611795185.350 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128005305.548002,06,6135,37,0277,0150,37,02,02,00,04,1,010,001,0,4,1,0,150,16.1,6.00,13,-3.00,-01,-0.25,34,14500,4000*70

2021-01-28T00:53:05.460Z,1611795185.460 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-28T00:53:05.461Z,1611795185.461 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-28T00:53:05.461Z,1611795185.461 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-28T00:53:05.461Z,1611795185.461 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T00:53:05.461Z,1611795185.461 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-28T00:53:06.213Z,1611795186.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:09.027Z,1611795189.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:11.854Z,1611795191.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:13.826Z,1611795193.826 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-01-28T00:53:14.306Z,1611795194.306 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-28T00:53:14.306Z,1611795194.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:14.310Z,1611795194.310 [Micromodem](INFO): Nmea in: $CADRQ,005315,1,10,0,64,1*74

2021-01-28T00:53:14.311Z,1611795194.311 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,005315,1,10,0,64,1*74

2021-01-28T00:53:14.411Z,1611795194.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:14.732Z,1611795194.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:15.557Z,1611795195.557 [Micromodem](INFO): Nmea in: $SNTTA,0.093405,,,,005316.04*4E

2021-01-28T00:53:15.625Z,1611795195.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 91.208345 deg, deltaT: 14.498538 s, approachRate: 0.099321 m/s, LOS rate: 1.822063 deg/s, posRepo size: 4
2021-01-28T00:53:15.627Z,1611795195.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.160004 m,
      bearing: 91.208345 deg,
      approachRate: 0.099321 m/s,
      LOS rate: 1.822063 deg/s,
      cmd update: 7.288252 deg/s,
      cmd heading: 33.377118 deg,
      new cmd heading: 31.946768 deg.

2021-01-28T00:53:17.979Z,1611795197.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:18.771Z,1611795198.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:19.148Z,1611795199.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:19.986Z,1611795199.986 [Micromodem](INFO): Nmea in: $SNTTA,0.093928,,,,005320.51*49

2021-01-28T00:53:20.058Z,1611795200.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.180008 m, bearing: 65.671299 deg, deltaT: 4.466320 s, approachRate: 0.228377 m/s, LOS rate: -5.717693 deg/s, posRepo size: 4
2021-01-28T00:53:20.060Z,1611795200.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.180008 m,
      bearing: 65.671299 deg,
      approachRate: 0.228377 m/s,
      LOS rate: -5.717693 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 65.926861 deg,
      new cmd heading: 69.177604 deg.

2021-01-28T00:53:22.401Z,1611795202.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:23.183Z,1611795203.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:23.608Z,1611795203.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:24.425Z,1611795204.425 [Micromodem](INFO): Nmea in: $SNTTA,0.094982,,,,005324.92*45

2021-01-28T00:53:24.447Z,1611795204.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.559998 m, bearing: 84.890919 deg, deltaT: 4.446634 s, approachRate: 0.310345 m/s, LOS rate: 4.322285 deg/s, posRepo size: 4
2021-01-28T00:53:24.451Z,1611795204.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.559998 m,
      bearing: 84.890919 deg,
      approachRate: 0.310345 m/s,
      LOS rate: 4.322285 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 12.566303 deg,
      new cmd heading: 7.904255 deg.

2021-01-28T00:53:26.882Z,1611795206.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:27.650Z,1611795207.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:28.044Z,1611795208.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:28.865Z,1611795208.865 [Micromodem](INFO): Nmea in: $SNTTA,0.095956,,,,005329.39*41

2021-01-28T00:53:28.927Z,1611795208.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.059998 m, bearing: 89.416896 deg, deltaT: 4.417600 s, approachRate: 0.339551 m/s, LOS rate: 1.024533 deg/s, posRepo size: 4
2021-01-28T00:53:28.934Z,1611795208.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.059998 m,
      bearing: 89.416896 deg,
      approachRate: 0.339551 m/s,
      LOS rate: 1.024533 deg/s,
      cmd update: 4.098132 deg/s,
      cmd heading: 65.435509 deg,
      new cmd heading: 70.991629 deg.

2021-01-28T00:53:31.305Z,1611795211.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:32.079Z,1611795212.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:32.480Z,1611795212.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:33.329Z,1611795213.329 [Micromodem](INFO): Nmea in: $SNTTA,0.096732,,,,005333.82*45

2021-01-28T00:53:33.350Z,1611795213.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.199997 m, bearing: 61.255746 deg, deltaT: 4.490236 s, approachRate: 0.253884 m/s, LOS rate: -6.271641 deg/s, posRepo size: 4
2021-01-28T00:53:33.352Z,1611795213.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.199997 m,
      bearing: 61.255746 deg,
      approachRate: 0.253884 m/s,
      LOS rate: -6.271641 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.822007 deg,
      new cmd heading: 85.458523 deg.

2021-01-28T00:53:35.783Z,1611795215.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:36.531Z,1611795216.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:36.944Z,1611795216.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:37.773Z,1611795217.773 [Micromodem](INFO): Nmea in: $SNTTA,0.098092,,,,005338.27*42

2021-01-28T00:53:37.775Z,1611795217.775 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-28T00:53:37.847Z,1611795217.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.420013 m, bearing: 42.895231 deg, deltaT: 4.385020 s, approachRate: 0.506273 m/s, LOS rate: -4.187099 deg/s, posRepo size: 4
2021-01-28T00:53:37.853Z,1611795217.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.420013 m,
      bearing: 42.895231 deg,
      approachRate: 0.506273 m/s,
      LOS rate: -4.187099 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 30.970118 deg,
      new cmd heading: 25.070954 deg.

2021-01-28T00:53:40.178Z,1611795220.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:40.970Z,1611795220.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:41.383Z,1611795221.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:42.219Z,1611795222.219 [Micromodem](INFO): Nmea in: $SNTTA,0.098779,,,,005342.71*4E

2021-01-28T00:53:42.239Z,1611795222.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.500000 m, bearing: 99.177393 deg, deltaT: 4.475608 s, approachRate: 0.241305 m/s, LOS rate: 12.575311 deg/s, posRepo size: 4
2021-01-28T00:53:42.240Z,1611795222.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.575311 deg/s. Setting heading cmd to target bearing of 99.177393deg and heading rate command to 0 deg/s.
2021-01-28T00:53:44.205Z,1611795224.205 [Micromodem](INFO): Nmea in: $CAERR,005345,DATA_TIMEOUT,1*49

2021-01-28T00:53:44.644Z,1611795224.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:45.418Z,1611795225.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:45.812Z,1611795225.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:46.673Z,1611795226.673 [Micromodem](INFO): Nmea in: $SNTTA,0.099827,,,,005347.16*4F

2021-01-28T00:53:46.757Z,1611795226.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.820007 m, bearing: 66.158066 deg, deltaT: 4.435819 s, approachRate: 0.297579 m/s, LOS rate: -7.443795 deg/s, posRepo size: 4
2021-01-28T00:53:46.759Z,1611795226.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.820007 m,
      bearing: 66.158066 deg,
      approachRate: 0.297579 m/s,
      LOS rate: -7.443795 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 99.177393 deg,
      new cmd heading: 99.177393 deg.

2021-01-28T00:53:49.090Z,1611795229.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:49.854Z,1611795229.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:50.268Z,1611795230.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:51.105Z,1611795231.105 [Micromodem](INFO): Nmea in: $SNTTA,0.101195,,,,005351.59*43

2021-01-28T00:53:51.130Z,1611795231.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.919998 m, bearing: 0.832425 deg, deltaT: 4.480911 s, approachRate: 0.468653 m/s, LOS rate: -14.578653 deg/s, posRepo size: 4
2021-01-28T00:53:51.131Z,1611795231.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.578653 deg/s. Setting heading cmd to target bearing of 0.832425deg and heading rate command to 0 deg/s.
2021-01-28T00:53:53.510Z,1611795233.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:54.298Z,1611795234.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:54.724Z,1611795234.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:55.541Z,1611795235.541 [Micromodem](INFO): Nmea in: $SNTTA,0.103350,,,,005356.04*45

2021-01-28T00:53:55.561Z,1611795235.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.220001 m, bearing: 50.939144 deg, deltaT: 4.395776 s, approachRate: 0.750721 m/s, LOS rate: 11.398834 deg/s, posRepo size: 4
2021-01-28T00:53:55.563Z,1611795235.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.220001 m,
      bearing: 50.939144 deg,
      approachRate: 0.750721 m/s,
      LOS rate: 11.398834 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 0.832425 deg,
      new cmd heading: 0.832425 deg.

2021-01-28T00:53:57.977Z,1611795237.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:53:58.762Z,1611795238.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:53:59.162Z,1611795239.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:53:59.967Z,1611795239.967 [Micromodem](INFO): Nmea in: $SNTTA,0.104319,,,,005400.50*4A

2021-01-28T00:54:00.047Z,1611795240.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 58.149683 deg, deltaT: 4.488521 s, approachRate: 0.294085 m/s, LOS rate: 1.606440 deg/s, posRepo size: 4
2021-01-28T00:54:00.053Z,1611795240.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.540009 m,
      bearing: 58.149683 deg,
      approachRate: 0.294085 m/s,
      LOS rate: 1.606440 deg/s,
      cmd update: 6.425759 deg/s,
      cmd heading: 54.435299 deg,
      new cmd heading: 59.677763 deg.

2021-01-28T00:54:02.415Z,1611795242.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:03.186Z,1611795243.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:03.620Z,1611795243.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:04.441Z,1611795244.441 [Micromodem](INFO): Nmea in: $SNTTA,0.105594,,,,005404.93*43

2021-01-28T00:54:04.464Z,1611795244.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.060013 m, bearing: 42.590591 deg, deltaT: 4.431197 s, approachRate: 0.568696 m/s, LOS rate: -3.511262 deg/s, posRepo size: 4
2021-01-28T00:54:04.467Z,1611795244.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.060013 m,
      bearing: 42.590591 deg,
      approachRate: 0.568696 m/s,
      LOS rate: -3.511262 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.044642 deg,
      new cmd heading: 85.619103 deg.

2021-01-28T00:54:06.882Z,1611795246.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:07.670Z,1611795247.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:08.052Z,1611795248.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:08.871Z,1611795248.871 [Micromodem](INFO): Nmea in: $SNTTA,0.106702,,,,005409.41*4F

2021-01-28T00:54:09.288Z,1611795249.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.080017 m, bearing: 95.686155 deg, deltaT: 4.864323 s, approachRate: 0.209691 m/s, LOS rate: 10.915304 deg/s, posRepo size: 4
2021-01-28T00:54:09.290Z,1611795249.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.080017 m,
      bearing: 95.686155 deg,
      approachRate: 0.209691 m/s,
      LOS rate: 10.915304 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.665949 deg,
      new cmd heading: 20.339577 deg.

2021-01-28T00:54:11.737Z,1611795251.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:12.478Z,1611795252.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:12.893Z,1611795252.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:13.741Z,1611795253.741 [Micromodem](INFO): Nmea in: $SNTTA,0.107125,,,,005414.22*44

2021-01-28T00:54:13.795Z,1611795253.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 118.518453 deg, deltaT: 4.401297 s, approachRate: 0.149950 m/s, LOS rate: 5.187629 deg/s, posRepo size: 4
2021-01-28T00:54:13.803Z,1611795253.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.739990 m,
      bearing: 118.518453 deg,
      approachRate: 0.149950 m/s,
      LOS rate: 5.187629 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 77.385262 deg,
      new cmd heading: 83.072698 deg.

2021-01-28T00:54:16.156Z,1611795256.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:16.927Z,1611795256.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:17.339Z,1611795257.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:18.181Z,1611795258.181 [Micromodem](INFO): Nmea in: $SNTTA,0.108003,,,,005418.67*43

2021-01-28T00:54:18.206Z,1611795258.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 102.886316 deg, deltaT: 4.480585 s, approachRate: 0.294606 m/s, LOS rate: -3.488861 deg/s, posRepo size: 4
2021-01-28T00:54:18.210Z,1611795258.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.059998 m,
      bearing: 102.886316 deg,
      approachRate: 0.294606 m/s,
      LOS rate: -3.488861 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 131.059547 deg,
      new cmd heading: 135.975288 deg.

2021-01-28T00:54:20.629Z,1611795260.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:21.366Z,1611795261.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:21.772Z,1611795261.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:22.633Z,1611795262.633 [Micromodem](INFO): Nmea in: $SNTTA,0.108310,,,,005423.11*4B

2021-01-28T00:54:22.670Z,1611795262.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 26.418880 deg, deltaT: 4.397082 s, approachRate: 0.150100 m/s, LOS rate: -17.390497 deg/s, posRepo size: 4
2021-01-28T00:54:22.670Z,1611795262.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.390497 deg/s. Setting heading cmd to target bearing of 26.418880deg and heading rate command to 0 deg/s.
2021-01-28T00:54:25.045Z,1611795265.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:25.814Z,1611795265.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:26.244Z,1611795266.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:27.065Z,1611795267.065 [Micromodem](INFO): Nmea in: $SNTTA,0.108312,,,,005427.55*4D

2021-01-28T00:54:27.090Z,1611795267.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 39.343399 deg, deltaT: 4.516634 s, approachRate: 0.000000 m/s, LOS rate: 2.861538 deg/s, posRepo size: 4
2021-01-28T00:54:27.092Z,1611795267.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.720001 m,
      bearing: 39.343399 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.861538 deg/s,
      cmd update: 11.446151 deg/s,
      cmd heading: 26.418880 deg,
      new cmd heading: 26.418880 deg.

2021-01-28T00:54:29.469Z,1611795269.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:30.262Z,1611795270.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:30.664Z,1611795270.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:31.505Z,1611795271.505 [Micromodem](INFO): Nmea in: $SNTTA,0.108186,,,,005432.00*46

2021-01-28T00:54:31.527Z,1611795271.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 127.589341 deg, deltaT: 4.400855 s, approachRate: 0.000000 m/s, LOS rate: 20.051999 deg/s, posRepo size: 4
2021-01-28T00:54:31.528Z,1611795271.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.051999 deg/s. Setting heading cmd to target bearing of 127.589341deg and heading rate command to 0 deg/s.
2021-01-28T00:54:33.937Z,1611795273.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:34.717Z,1611795274.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:35.104Z,1611795275.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:35.937Z,1611795275.937 [Micromodem](INFO): Nmea in: $SNTTA,0.108588,,,,005436.46*4A

2021-01-28T00:54:35.985Z,1611795275.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 113.405531 deg, deltaT: 4.407361 s, approachRate: 0.000000 m/s, LOS rate: -3.218209 deg/s, posRepo size: 4
2021-01-28T00:54:35.989Z,1611795275.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.720001 m,
      bearing: 113.405531 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.218209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 127.589341 deg,
      new cmd heading: 127.589341 deg.

2021-01-28T00:54:38.355Z,1611795278.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:39.142Z,1611795279.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:39.548Z,1611795279.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:40.389Z,1611795280.389 [Micromodem](INFO): Nmea in: $SNTTA,0.109223,,,,005440.88*4E

2021-01-28T00:54:40.417Z,1611795280.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.680008 m, bearing: 122.856375 deg, deltaT: 4.506961 s, approachRate: 0.213005 m/s, LOS rate: 2.096944 deg/s, posRepo size: 4
2021-01-28T00:54:40.419Z,1611795280.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.680008 m,
      bearing: 122.856375 deg,
      approachRate: 0.213005 m/s,
      LOS rate: 2.096944 deg/s,
      cmd update: 8.387775 deg/s,
      cmd heading: 73.538183 deg,
      new cmd heading: 69.003455 deg.

2021-01-28T00:54:42.827Z,1611795282.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:43.606Z,1611795283.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:44.014Z,1611795284.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:44.833Z,1611795284.833 [Micromodem](INFO): Nmea in: $SNTTA,0.109111,,,,005445.35*4F

2021-01-28T00:54:45.261Z,1611795285.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.619995 m, bearing: 39.936915 deg, deltaT: 4.828973 s, approachRate: -0.012428 m/s, LOS rate: -17.171241 deg/s, posRepo size: 4
2021-01-28T00:54:45.261Z,1611795285.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.171241 deg/s. Setting heading cmd to target bearing of 39.936915deg and heading rate command to 0 deg/s.
2021-01-28T00:54:47.678Z,1611795287.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:48.450Z,1611795288.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:48.844Z,1611795288.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:49.687Z,1611795289.687 [Micromodem](INFO): Nmea in: $SNTTA,0.108575,,,,005450.19*42

2021-01-28T00:54:49.765Z,1611795289.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.619995 m, bearing: 125.860415 deg, deltaT: 4.426858 s, approachRate: 0.000000 m/s, LOS rate: 19.409591 deg/s, posRepo size: 4
2021-01-28T00:54:49.766Z,1611795289.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.409591 deg/s. Setting heading cmd to target bearing of 125.860415deg and heading rate command to 0 deg/s.
2021-01-28T00:54:52.111Z,1611795292.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:52.883Z,1611795292.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:53.299Z,1611795293.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:54.129Z,1611795294.129 [Micromodem](INFO): Nmea in: $SNTTA,0.107634,,,,005454.62*43

2021-01-28T00:54:54.154Z,1611795294.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.699997 m, bearing: 122.364792 deg, deltaT: 4.457923 s, approachRate: -0.430693 m/s, LOS rate: -0.784137 deg/s, posRepo size: 4
2021-01-28T00:54:54.156Z,1611795294.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.699997 m,
      bearing: 122.364792 deg,
      approachRate: -0.430693 m/s,
      LOS rate: -0.784137 deg/s,
      cmd update: -3.136548 deg/s,
      cmd heading: 125.860415 deg,
      new cmd heading: 125.860415 deg.

2021-01-28T00:54:56.530Z,1611795296.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:54:57.322Z,1611795297.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:54:57.741Z,1611795297.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:54:58.576Z,1611795298.576 [Micromodem](INFO): Nmea in: $SNTTA,0.106937,,,,005459.06*41

2021-01-28T00:54:58.627Z,1611795298.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.320007 m, bearing: 144.317458 deg, deltaT: 4.427555 s, approachRate: -0.311682 m/s, LOS rate: 4.958191 deg/s, posRepo size: 4
2021-01-28T00:54:58.633Z,1611795298.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.320007 m,
      bearing: 144.317458 deg,
      approachRate: -0.311682 m/s,
      LOS rate: 4.958191 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 111.985756 deg,
      new cmd heading: 110.569109 deg.

2021-01-28T00:55:01.015Z,1611795301.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:01.774Z,1611795301.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:02.172Z,1611795302.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:03.010Z,1611795303.010 [Micromodem](INFO): Nmea in: $SNTTA,0.106193,,,,005503.51*4B

2021-01-28T00:55:03.063Z,1611795303.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 136.411336 deg, deltaT: 4.449858 s, approachRate: -0.431474 m/s, LOS rate: -1.776713 deg/s, posRepo size: 4
2021-01-28T00:55:03.065Z,1611795303.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 136.411336 deg,
      approachRate: -0.431474 m/s,
      LOS rate: -1.776713 deg/s,
      cmd update: -7.106853 deg/s,
      cmd heading: 165.432461 deg,
      new cmd heading: 170.638205 deg.

2021-01-28T00:55:05.418Z,1611795305.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:06.238Z,1611795306.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:06.648Z,1611795306.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:07.448Z,1611795307.448 [Micromodem](INFO): Nmea in: $SNTTA,0.104943,,,,005507.98*4D

2021-01-28T00:55:07.467Z,1611795307.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 173.120679 deg, deltaT: 4.460379 s, approachRate: -0.269035 m/s, LOS rate: 8.230095 deg/s, posRepo size: 4
2021-01-28T00:55:07.469Z,1611795307.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 173.120679 deg,
      approachRate: -0.269035 m/s,
      LOS rate: 8.230095 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 133.760239 deg,
      new cmd heading: 131.051789 deg.

2021-01-28T00:55:09.897Z,1611795309.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:10.658Z,1611795310.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:11.072Z,1611795311.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:11.905Z,1611795311.905 [Micromodem](INFO): Nmea in: $SNTTA,0.103387,,,,005512.40*49

2021-01-28T00:55:11.950Z,1611795311.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 161.473991 deg, deltaT: 4.411129 s, approachRate: -0.516878 m/s, LOS rate: -2.640296 deg/s, posRepo size: 4
2021-01-28T00:55:11.952Z,1611795311.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.919998 m,
      bearing: 161.473991 deg,
      approachRate: -0.516878 m/s,
      LOS rate: -2.640296 deg/s,
      cmd update: -10.561186 deg/s,
      cmd heading: 186.641396 deg,
      new cmd heading: 192.125132 deg.

2021-01-28T00:55:14.326Z,1611795314.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:15.102Z,1611795315.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:15.510Z,1611795315.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:16.365Z,1611795316.365 [Micromodem](INFO): Nmea in: $SNTTA,0.101439,,,,005516.84*45

2021-01-28T00:55:16.406Z,1611795316.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.800003 m, bearing: 163.627099 deg, deltaT: 4.488491 s, approachRate: -0.695110 m/s, LOS rate: 0.479695 deg/s, posRepo size: 4
2021-01-28T00:55:16.409Z,1611795316.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.800003 m,
      bearing: 163.627099 deg,
      approachRate: -0.695110 m/s,
      LOS rate: 0.479695 deg/s,
      cmd update: 1.918781 deg/s,
      cmd heading: 139.381430 deg,
      new cmd heading: 134.778136 deg.

2021-01-28T00:55:18.813Z,1611795318.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:19.547Z,1611795319.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:19.949Z,1611795319.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:20.807Z,1611795320.807 [Micromodem](INFO): Nmea in: $SNTTA,0.099142,,,,005521.29*4F

2021-01-28T00:55:20.843Z,1611795320.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.559998 m, bearing: 160.888972 deg, deltaT: 4.400905 s, approachRate: -0.736213 m/s, LOS rate: -0.622174 deg/s, posRepo size: 4
2021-01-28T00:55:20.862Z,1611795320.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.559998 m,
      bearing: 160.888972 deg,
      approachRate: -0.736213 m/s,
      LOS rate: -0.622174 deg/s,
      cmd update: -2.488695 deg/s,
      cmd heading: 147.837404 deg,
      new cmd heading: 148.736673 deg.

2021-01-28T00:55:23.218Z,1611795323.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:24.004Z,1611795324.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:24.392Z,1611795324.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:25.225Z,1611795325.225 [Micromodem](INFO): Nmea in: $SNTTA,0.096842,,,,005525.74*45

2021-01-28T00:55:25.263Z,1611795325.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.080002 m, bearing: 158.609287 deg, deltaT: 4.465125 s, approachRate: -0.779373 m/s, LOS rate: -0.510553 deg/s, posRepo size: 4
2021-01-28T00:55:25.266Z,1611795325.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.080002 m,
      bearing: 158.609287 deg,
      approachRate: -0.779373 m/s,
      LOS rate: -0.510553 deg/s,
      cmd update: -2.042214 deg/s,
      cmd heading: 136.685924 deg,
      new cmd heading: 135.670706 deg.

2021-01-28T00:55:27.685Z,1611795327.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:28.434Z,1611795328.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:28.836Z,1611795328.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:29.692Z,1611795329.692 [Micromodem](INFO): Nmea in: $SNTTA,0.094673,,,,005530.17*4A

2021-01-28T00:55:29.757Z,1611795329.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.840012 m, bearing: 157.673510 deg, deltaT: 4.437769 s, approachRate: -0.730094 m/s, LOS rate: -0.210867 deg/s, posRepo size: 4
2021-01-28T00:55:29.759Z,1611795329.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.840012 m,
      bearing: 157.673510 deg,
      approachRate: -0.730094 m/s,
      LOS rate: -0.210867 deg/s,
      cmd update: -0.843466 deg/s,
      cmd heading: 127.644143 deg,
      new cmd heading: 126.676444 deg.

2021-01-28T00:55:32.101Z,1611795332.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:32.870Z,1611795332.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:33.280Z,1611795333.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:34.125Z,1611795334.125 [Micromodem](INFO): Nmea in: $SNTTA,0.092709,,,0.095215,005534.61*51

2021-01-28T00:55:34.150Z,1611795334.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.080002 m, bearing: 161.934305 deg, deltaT: 4.476037 s, approachRate: -0.616619 m/s, LOS rate: 0.951912 deg/s, posRepo size: 4
2021-01-28T00:55:34.152Z,1611795334.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.080002 m,
      bearing: 161.934305 deg,
      approachRate: -0.616619 m/s,
      LOS rate: 0.951912 deg/s,
      cmd update: 3.807649 deg/s,
      cmd heading: 123.863387 deg,
      new cmd heading: 123.538939 deg.

2021-01-28T00:55:36.534Z,1611795336.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:37.322Z,1611795337.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:37.742Z,1611795337.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:38.572Z,1611795338.572 [Micromodem](INFO): Nmea in: $SNTTA,0.091088,,,,005539.06*44

2021-01-28T00:55:38.626Z,1611795338.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.199997 m, bearing: 163.891058 deg, deltaT: 4.384160 s, approachRate: -0.656911 m/s, LOS rate: 0.446323 deg/s, posRepo size: 4
2021-01-28T00:55:38.628Z,1611795338.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.199997 m,
      bearing: 163.891058 deg,
      approachRate: -0.656911 m/s,
      LOS rate: 0.446323 deg/s,
      cmd update: 1.785294 deg/s,
      cmd heading: 140.571939 deg,
      new cmd heading: 142.372215 deg.

2021-01-28T00:55:41.024Z,1611795341.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:41.782Z,1611795341.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:42.172Z,1611795342.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:43.002Z,1611795343.002 [Micromodem](INFO): Nmea in: $SNTTA,0.089055,,,,005543.52*41

2021-01-28T00:55:43.074Z,1611795343.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.380005 m, bearing: 163.996052 deg, deltaT: 4.479702 s, approachRate: -0.629504 m/s, LOS rate: 0.023438 deg/s, posRepo size: 4
2021-01-28T00:55:43.089Z,1611795343.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.380005 m,
      bearing: 163.996052 deg,
      approachRate: -0.629504 m/s,
      LOS rate: 0.023438 deg/s,
      cmd update: 0.093751 deg/s,
      cmd heading: 148.562719 deg,
      new cmd heading: 149.356159 deg.

2021-01-28T00:55:45.419Z,1611795345.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:46.202Z,1611795346.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:46.640Z,1611795346.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:47.457Z,1611795347.457 [Micromodem](INFO): Nmea in: $SNTTA,0.086917,,,,005547.94*4F

2021-01-28T00:55:47.479Z,1611795347.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.080002 m, bearing: 164.748520 deg, deltaT: 4.421500 s, approachRate: -0.746354 m/s, LOS rate: 0.170184 deg/s, posRepo size: 4
2021-01-28T00:55:47.482Z,1611795347.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.080002 m,
      bearing: 164.748520 deg,
      approachRate: -0.746354 m/s,
      LOS rate: 0.170184 deg/s,
      cmd update: 0.680736 deg/s,
      cmd heading: 148.977593 deg,
      new cmd heading: 149.017395 deg.

2021-01-28T00:55:49.893Z,1611795349.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:50.658Z,1611795350.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:51.060Z,1611795351.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:51.901Z,1611795351.901 [Micromodem](INFO): Nmea in: $SNTTA,0.084531,,,,005552.40*48

2021-01-28T00:55:51.946Z,1611795351.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.599998 m, bearing: 164.188021 deg, deltaT: 4.455916 s, approachRate: -0.780985 m/s, LOS rate: -0.125788 deg/s, posRepo size: 4
2021-01-28T00:55:51.948Z,1611795351.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.599998 m,
      bearing: 164.188021 deg,
      approachRate: -0.780985 m/s,
      LOS rate: -0.125788 deg/s,
      cmd update: -0.503150 deg/s,
      cmd heading: 152.003489 deg,
      new cmd heading: 152.307498 deg.

2021-01-28T00:55:54.310Z,1611795354.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:55.094Z,1611795355.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:55.513Z,1611795355.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:55:56.369Z,1611795356.369 [Micromodem](INFO): Nmea in: $SNTTA,0.082192,,,,005556.83*48

2021-01-28T00:55:56.409Z,1611795356.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.240005 m, bearing: 163.915319 deg, deltaT: 4.444343 s, approachRate: -0.756016 m/s, LOS rate: -0.061359 deg/s, posRepo size: 4
2021-01-28T00:55:56.410Z,1611795356.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.240005 m,
      bearing: 163.915319 deg,
      approachRate: -0.756016 m/s,
      LOS rate: -0.061359 deg/s,
      cmd update: -0.245438 deg/s,
      cmd heading: 149.761902 deg,
      new cmd heading: 149.533771 deg.

2021-01-28T00:55:58.817Z,1611795358.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:55:59.547Z,1611795359.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:55:59.944Z,1611795359.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:00.789Z,1611795360.789 [Micromodem](INFO): Nmea in: $SNTTA,0.079839,,,,005601.28*44

2021-01-28T00:56:00.843Z,1611795360.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.520004 m, bearing: 165.231428 deg, deltaT: 4.417983 s, approachRate: -0.842013 m/s, LOS rate: 0.297898 deg/s, posRepo size: 4
2021-01-28T00:56:00.849Z,1611795360.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.520004 m,
      bearing: 165.231428 deg,
      approachRate: -0.842013 m/s,
      LOS rate: 0.297898 deg/s,
      cmd update: 1.191593 deg/s,
      cmd heading: 148.677534 deg,
      new cmd heading: 148.562106 deg.

2021-01-28T00:56:03.208Z,1611795363.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:03.982Z,1611795363.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:04.392Z,1611795364.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:05.221Z,1611795365.221 [Micromodem](INFO): Nmea in: $SNTTA,0.077534,,,,005605.72*41

2021-01-28T00:56:05.243Z,1611795365.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.099998 m, bearing: 165.928067 deg, deltaT: 4.479450 s, approachRate: -0.763488 m/s, LOS rate: 0.155519 deg/s, posRepo size: 4
2021-01-28T00:56:05.246Z,1611795365.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.099998 m,
      bearing: 165.928067 deg,
      approachRate: -0.763488 m/s,
      LOS rate: 0.155519 deg/s,
      cmd update: 0.622075 deg/s,
      cmd heading: 154.010650 deg,
      new cmd heading: 154.481198 deg.

2021-01-28T00:56:07.676Z,1611795367.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:08.426Z,1611795368.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:08.840Z,1611795368.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:09.688Z,1611795369.688 [Micromodem](INFO): Nmea in: $SNTTA,0.075188,,0.094414,,005610.16*54

2021-01-28T00:56:09.751Z,1611795369.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.620003 m, bearing: 165.537749 deg, deltaT: 4.420929 s, approachRate: -0.787164 m/s, LOS rate: -0.088289 deg/s, posRepo size: 4
2021-01-28T00:56:09.753Z,1611795369.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.620003 m,
      bearing: 165.537749 deg,
      approachRate: -0.787164 m/s,
      LOS rate: -0.088289 deg/s,
      cmd update: -0.353155 deg/s,
      cmd heading: 156.760833 deg,
      new cmd heading: 157.060443 deg.

2021-01-28T00:56:12.101Z,1611795372.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:12.870Z,1611795372.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:13.276Z,1611795373.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:14.117Z,1611795374.117 [Micromodem](INFO): Nmea in: $SNTTA,0.072696,,,,005614.61*4D

2021-01-28T00:56:14.142Z,1611795374.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.840004 m, bearing: 164.267142 deg, deltaT: 4.499915 s, approachRate: -0.840016 m/s, LOS rate: -0.282362 deg/s, posRepo size: 4
2021-01-28T00:56:14.164Z,1611795374.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.840004 m,
      bearing: 164.267142 deg,
      approachRate: -0.840016 m/s,
      LOS rate: -0.282362 deg/s,
      cmd update: -1.129449 deg/s,
      cmd heading: 155.174186 deg,
      new cmd heading: 155.040111 deg.

2021-01-28T00:56:16.522Z,1611795376.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:17.322Z,1611795377.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:17.730Z,1611795377.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:18.559Z,1611795378.559 [Micromodem](INFO): Nmea in: $SNTTA,0.070274,,,,005619.06*4B

2021-01-28T00:56:18.631Z,1611795378.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.240005 m, bearing: 164.164594 deg, deltaT: 4.368103 s, approachRate: -0.824156 m/s, LOS rate: -0.023477 deg/s, posRepo size: 4
2021-01-28T00:56:18.644Z,1611795378.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.240005 m,
      bearing: 164.164594 deg,
      approachRate: -0.824156 m/s,
      LOS rate: -0.023477 deg/s,
      cmd update: -0.093907 deg/s,
      cmd heading: 150.228270 deg,
      new cmd heading: 149.675595 deg.

2021-01-28T00:56:21.002Z,1611795381.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:21.774Z,1611795381.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:22.174Z,1611795382.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:22.994Z,1611795382.994 [Micromodem](INFO): Nmea in: $SNTTA,0.067871,,,,005623.51*49

2021-01-28T00:56:23.045Z,1611795383.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.580002 m, bearing: 165.658069 deg, deltaT: 4.508576 s, approachRate: -0.811787 m/s, LOS rate: 0.331252 deg/s, posRepo size: 4
2021-01-28T00:56:23.047Z,1611795383.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.580002 m,
      bearing: 165.658069 deg,
      approachRate: -0.811787 m/s,
      LOS rate: 0.331252 deg/s,
      cmd update: 1.325009 deg/s,
      cmd heading: 149.804869 deg,
      new cmd heading: 149.767793 deg.

2021-01-28T00:56:25.433Z,1611795385.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:26.202Z,1611795386.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:26.650Z,1611795386.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:27.445Z,1611795387.445 [Micromodem](INFO): Nmea in: $SNTTA,0.065497,,,,005627.94*42

2021-01-28T00:56:27.490Z,1611795387.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 164.889509 deg, deltaT: 4.390185 s, approachRate: -0.806344 m/s, LOS rate: -0.175063 deg/s, posRepo size: 4
2021-01-28T00:56:27.491Z,1611795387.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.040001 m,
      bearing: 164.889509 deg,
      approachRate: -0.806344 m/s,
      LOS rate: -0.175063 deg/s,
      cmd update: -0.700253 deg/s,
      cmd heading: 155.621639 deg,
      new cmd heading: 156.217225 deg.

2021-01-28T00:56:29.889Z,1611795389.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:30.682Z,1611795390.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:31.060Z,1611795391.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:31.893Z,1611795391.893 [Micromodem](INFO): Nmea in: $SNTTA,0.063114,,,,005632.42*45

2021-01-28T00:56:31.939Z,1611795391.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.439995 m, bearing: 165.264377 deg, deltaT: 4.444996 s, approachRate: -0.809901 m/s, LOS rate: 0.084335 deg/s, posRepo size: 4
2021-01-28T00:56:31.941Z,1611795391.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.439995 m,
      bearing: 165.264377 deg,
      approachRate: -0.809901 m/s,
      LOS rate: 0.084335 deg/s,
      cmd update: 0.337339 deg/s,
      cmd heading: 152.508869 deg,
      new cmd heading: 152.191187 deg.

2021-01-28T00:56:34.310Z,1611795394.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:35.094Z,1611795395.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:35.496Z,1611795395.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:36.357Z,1611795396.357 [Micromodem](INFO): Nmea in: $SNTTA,0.060641,,,,005636.83*48

2021-01-28T00:56:36.394Z,1611795396.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.779999 m, bearing: 165.918190 deg, deltaT: 4.455035 s, approachRate: -0.821541 m/s, LOS rate: 0.146758 deg/s, posRepo size: 4
2021-01-28T00:56:36.397Z,1611795396.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.779999 m,
      bearing: 165.918190 deg,
      approachRate: -0.821541 m/s,
      LOS rate: 0.146758 deg/s,
      cmd update: 0.587033 deg/s,
      cmd heading: 154.011689 deg,
      new cmd heading: 154.164892 deg.

2021-01-28T00:56:38.797Z,1611795398.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:39.546Z,1611795399.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:39.944Z,1611795399.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:40.794Z,1611795400.794 [Micromodem](INFO): Nmea in: $SNTTA,0.058242,,,,005641.29*44

2021-01-28T00:56:40.828Z,1611795400.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 167.761453 deg, deltaT: 4.449745 s, approachRate: -0.822518 m/s, LOS rate: 0.414240 deg/s, posRepo size: 4
2021-01-28T00:56:40.830Z,1611795400.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 167.761453 deg,
      approachRate: -0.822518 m/s,
      LOS rate: 0.414240 deg/s,
      cmd update: 1.656961 deg/s,
      cmd heading: 156.623846 deg,
      new cmd heading: 156.880929 deg.

2021-01-28T00:56:43.198Z,1611795403.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:43.982Z,1611795403.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:44.388Z,1611795404.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:45.229Z,1611795405.229 [Micromodem](INFO): Nmea in: $SNTTA,0.055912,,,,005645.72*4D

2021-01-28T00:56:45.252Z,1611795405.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.640007 m, bearing: 166.680139 deg, deltaT: 4.434932 s, approachRate: -0.784678 m/s, LOS rate: -0.243818 deg/s, posRepo size: 4
2021-01-28T00:56:45.254Z,1611795405.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.640007 m,
      bearing: 166.680139 deg,
      approachRate: -0.784678 m/s,
      LOS rate: -0.243818 deg/s,
      cmd update: -0.975270 deg/s,
      cmd heading: 163.971926 deg,
      new cmd heading: 164.679359 deg.

2021-01-28T00:56:47.726Z,1611795407.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:48.430Z,1611795408.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:48.888Z,1611795408.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:49.687Z,1611795409.687 [Micromodem](INFO): Nmea in: $SNTTA,0.053381,,,,005650.17*4C

2021-01-28T00:56:49.757Z,1611795409.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.920006 m, bearing: 166.684579 deg, deltaT: 4.441432 s, approachRate: -0.837568 m/s, LOS rate: 0.001000 deg/s, posRepo size: 4
2021-01-28T00:56:49.759Z,1611795409.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.920006 m,
      bearing: 166.684579 deg,
      approachRate: -0.837568 m/s,
      LOS rate: 0.001000 deg/s,
      cmd update: 0.003998 deg/s,
      cmd heading: 159.639975 deg,
      new cmd heading: 159.162144 deg.

2021-01-28T00:56:52.088Z,1611795412.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:52.879Z,1611795412.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:53.299Z,1611795413.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:54.125Z,1611795414.125 [Micromodem](INFO): Nmea in: $SNTTA,0.050882,,,,005654.62*41

2021-01-28T00:56:54.174Z,1611795414.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.139999 m, bearing: 166.167287 deg, deltaT: 4.513209 s, approachRate: -0.837543 m/s, LOS rate: -0.114617 deg/s, posRepo size: 4
2021-01-28T00:56:54.177Z,1611795414.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.139999 m,
      bearing: 166.167287 deg,
      approachRate: -0.837543 m/s,
      LOS rate: -0.114617 deg/s,
      cmd update: -0.458469 deg/s,
      cmd heading: 159.657975 deg,
      new cmd heading: 159.659581 deg.

2021-01-28T00:56:56.534Z,1611795416.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:56:57.334Z,1611795417.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:56:57.766Z,1611795417.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:56:58.561Z,1611795418.561 [Micromodem](INFO): Nmea in: $SNTTA,0.048401,,,,005659.08*4E

2021-01-28T00:56:58.626Z,1611795418.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.419998 m, bearing: 166.503660 deg, deltaT: 4.377457 s, approachRate: -0.849809 m/s, LOS rate: 0.076842 deg/s, posRepo size: 4
2021-01-28T00:56:58.628Z,1611795418.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.419998 m,
      bearing: 166.503660 deg,
      approachRate: -0.849809 m/s,
      LOS rate: 0.076842 deg/s,
      cmd update: 0.307369 deg/s,
      cmd heading: 157.645983 deg,
      new cmd heading: 157.431012 deg.

2021-01-28T00:57:01.036Z,1611795421.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:01.771Z,1611795421.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:02.188Z,1611795422.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:03.025Z,1611795423.025 [Micromodem](INFO): Nmea in: $SNTTA,0.045822,,0.054740,,005703.51*50

2021-01-28T00:57:03.050Z,1611795423.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 165.612676 deg, deltaT: 4.487506 s, approachRate: -0.855708 m/s, LOS rate: -0.198548 deg/s, posRepo size: 4
2021-01-28T00:57:03.072Z,1611795423.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.580002 m,
      bearing: 165.612676 deg,
      approachRate: -0.855708 m/s,
      LOS rate: -0.198548 deg/s,
      cmd update: -0.794191 deg/s,
      cmd heading: 159.025356 deg,
      new cmd heading: 159.149970 deg.

2021-01-28T00:57:05.434Z,1611795425.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:06.214Z,1611795426.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:06.644Z,1611795426.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:07.461Z,1611795427.461 [Micromodem](INFO): Nmea in: $SNTTA,0.043332,,,,005707.95*4C

2021-01-28T00:57:07.483Z,1611795427.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.860008 m, bearing: 166.362535 deg, deltaT: 4.417386 s, approachRate: -0.842126 m/s, LOS rate: 0.169752 deg/s, posRepo size: 4
2021-01-28T00:57:07.485Z,1611795427.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.860008 m,
      bearing: 166.362535 deg,
      approachRate: -0.842126 m/s,
      LOS rate: 0.169752 deg/s,
      cmd update: 0.679007 deg/s,
      cmd heading: 155.517076 deg,
      new cmd heading: 155.182493 deg.

2021-01-28T00:57:09.900Z,1611795429.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:10.658Z,1611795430.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:11.076Z,1611795431.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:11.913Z,1611795431.913 [Micromodem](INFO): Nmea in: $SNTTA,0.040778,,0.041953,,005712.40*5D

2021-01-28T00:57:11.968Z,1611795431.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.960007 m, bearing: 166.195127 deg, deltaT: 4.439551 s, approachRate: -0.878468 m/s, LOS rate: -0.037708 deg/s, posRepo size: 4
2021-01-28T00:57:11.970Z,1611795431.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.960007 m,
      bearing: 166.195127 deg,
      approachRate: -0.878468 m/s,
      LOS rate: -0.037708 deg/s,
      cmd update: -0.150833 deg/s,
      cmd heading: 158.528712 deg,
      new cmd heading: 158.834739 deg.

2021-01-28T00:57:14.325Z,1611795434.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:15.110Z,1611795435.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:15.516Z,1611795435.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:16.377Z,1611795436.377 [Micromodem](INFO): Nmea in: $SNTTA,0.038298,,0.046061,,005716.85*5B

2021-01-28T00:57:16.424Z,1611795436.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 166.895481 deg, deltaT: 4.462870 s, approachRate: -0.820102 m/s, LOS rate: 0.156929 deg/s, posRepo size: 4
2021-01-28T00:57:16.426Z,1611795436.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 166.895481 deg,
      approachRate: -0.820102 m/s,
      LOS rate: 0.156929 deg/s,
      cmd update: 0.627716 deg/s,
      cmd heading: 157.854929 deg,
      new cmd heading: 157.786289 deg.

2021-01-28T00:57:18.811Z,1611795438.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:19.563Z,1611795439.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:19.956Z,1611795439.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:20.797Z,1611795440.797 [Micromodem](INFO): Nmea in: $SNTTA,0.035901,,0.038658,,005721.30*52

2021-01-28T00:57:20.871Z,1611795440.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.700005 m, bearing: 166.667653 deg, deltaT: 4.400781 s, approachRate: -0.818035 m/s, LOS rate: -0.051770 deg/s, posRepo size: 4
2021-01-28T00:57:20.877Z,1611795440.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.700005 m,
      bearing: 166.667653 deg,
      approachRate: -0.818035 m/s,
      LOS rate: -0.051770 deg/s,
      cmd update: -0.207079 deg/s,
      cmd heading: 160.617357 deg,
      new cmd heading: 160.934577 deg.

2021-01-28T00:57:23.218Z,1611795443.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:24.004Z,1611795444.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:24.392Z,1611795444.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:25.229Z,1611795445.229 [Micromodem](INFO): Nmea in: $SNTTA,0.033485,,,,005725.74*4F

2021-01-28T00:57:25.272Z,1611795445.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.039997 m, bearing: 166.305052 deg, deltaT: 4.507222 s, approachRate: -0.812032 m/s, LOS rate: -0.080449 deg/s, posRepo size: 4
2021-01-28T00:57:25.274Z,1611795445.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.039997 m,
      bearing: 166.305052 deg,
      approachRate: -0.812032 m/s,
      LOS rate: -0.080449 deg/s,
      cmd update: -0.321796 deg/s,
      cmd heading: 159.684027 deg,
      new cmd heading: 159.602164 deg.

2021-01-28T00:57:27.699Z,1611795447.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:28.431Z,1611795448.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:28.840Z,1611795448.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:29.698Z,1611795449.698 [Micromodem](INFO): Nmea in: $SNTTA,0.030987,,0.038867,,005730.17*5E

2021-01-28T00:57:29.757Z,1611795449.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.919994 m, bearing: 167.591518 deg, deltaT: 4.411784 s, approachRate: -0.707198 m/s, LOS rate: 0.291598 deg/s, posRepo size: 4
2021-01-28T00:57:29.759Z,1611795449.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.919994 m,
      bearing: 167.591518 deg,
      approachRate: -0.707198 m/s,
      LOS rate: 0.291598 deg/s,
      cmd update: 1.166391 deg/s,
      cmd heading: 158.264267 deg,
      new cmd heading: 158.112176 deg.

2021-01-28T00:57:32.114Z,1611795452.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:32.878Z,1611795452.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:33.299Z,1611795453.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:34.128Z,1611795454.128 [Micromodem](INFO): Nmea in: $SNTTA,0.028489,,0.221195,0.031051,005734.62*44

2021-01-28T00:57:34.147Z,1611795454.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.540001 m, bearing: 166.844282 deg, deltaT: 4.501305 s, approachRate: -0.973050 m/s, LOS rate: -0.166004 deg/s, posRepo size: 4
2021-01-28T00:57:34.150Z,1611795454.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.540001 m,
      bearing: 166.844282 deg,
      approachRate: -0.973050 m/s,
      LOS rate: -0.166004 deg/s,
      cmd update: -0.664018 deg/s,
      cmd heading: 163.509789 deg,
      new cmd heading: 163.936450 deg.

2021-01-28T00:57:36.542Z,1611795456.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:37.318Z,1611795457.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:37.752Z,1611795457.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:38.581Z,1611795458.581 [Micromodem](INFO): Nmea in: $SNTTA,0.025925,,,,005739.06*47

2021-01-28T00:57:38.637Z,1611795458.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.760002 m, bearing: 167.715814 deg, deltaT: 4.379540 s, approachRate: -0.863104 m/s, LOS rate: 0.199001 deg/s, posRepo size: 4
2021-01-28T00:57:38.638Z,1611795458.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.76 m.
2021-01-28T00:57:38.639Z,1611795458.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.760002 m,
      bearing: 167.715814 deg,
      approachRate: -0.863104 m/s,
      LOS rate: 0.199001 deg/s,
      cmd update: 0.796003 deg/s,
      cmd heading: 160.599218 deg,
      new cmd heading: 160.285801 deg.

2021-01-28T00:57:38.988Z,1611795458.988 [PowerOnly](INFO): Powering up loadControl
2021-01-28T00:57:41.030Z,1611795461.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:41.806Z,1611795461.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:42.203Z,1611795462.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:43.021Z,1611795463.021 [Micromodem](INFO): Nmea in: $SNTTA,0.023324,,,,005743.54*40

2021-01-28T00:57:43.061Z,1611795463.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.799999 m, bearing: 168.682067 deg, deltaT: 4.484769 s, approachRate: -0.882989 m/s, LOS rate: 0.215452 deg/s, posRepo size: 4
2021-01-28T00:57:43.061Z,1611795463.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.80 m.
2021-01-28T00:57:43.063Z,1611795463.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.799999 m,
      bearing: 168.682067 deg,
      approachRate: -0.882989 m/s,
      LOS rate: 0.215452 deg/s,
      cmd update: 0.861809 deg/s,
      cmd heading: 164.169223 deg,
      new cmd heading: 164.496360 deg.

2021-01-28T00:57:45.466Z,1611795465.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:46.210Z,1611795466.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:46.646Z,1611795466.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:47.449Z,1611795467.449 [Micromodem](INFO): Nmea in: $SNTTA,0.020777,,,,005747.95*48

2021-01-28T00:57:47.472Z,1611795467.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 170.249186 deg, deltaT: 4.427617 s, approachRate: -0.853732 m/s, LOS rate: 0.353942 deg/s, posRepo size: 4
2021-01-28T00:57:47.472Z,1611795467.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.02 m.
2021-01-28T00:57:47.474Z,1611795467.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 170.249186 deg,
      approachRate: -0.853732 m/s,
      LOS rate: 0.353942 deg/s,
      cmd update: 1.415767 deg/s,
      cmd heading: 167.965344 deg,
      new cmd heading: 168.324659 deg.

2021-01-28T00:57:49.878Z,1611795469.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:50.675Z,1611795470.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:51.064Z,1611795471.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:51.893Z,1611795471.893 [Micromodem](INFO): Nmea in: $SNTTA,0.018300,,,,005752.41*4A

2021-01-28T00:57:51.953Z,1611795471.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 168.137360 deg, deltaT: 4.400215 s, approachRate: -0.640879 m/s, LOS rate: -0.479937 deg/s, posRepo size: 4
2021-01-28T00:57:51.954Z,1611795471.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.20 m.
2021-01-28T00:57:51.955Z,1611795471.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 168.137360 deg,
      approachRate: -0.640879 m/s,
      LOS rate: -0.479937 deg/s,
      cmd update: -1.919748 deg/s,
      cmd heading: 174.227173 deg,
      new cmd heading: 174.900149 deg.

2021-01-28T00:57:54.314Z,1611795474.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:55.095Z,1611795475.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:55.504Z,1611795475.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:57:56.341Z,1611795476.341 [Micromodem](INFO): Nmea in: $SNTTA,0.015776,,,,005756.83*48

2021-01-28T00:57:56.395Z,1611795476.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.400002 m, bearing: 168.725548 deg, deltaT: 4.474564 s, approachRate: -1.072730 m/s, LOS rate: 0.131452 deg/s, posRepo size: 4
2021-01-28T00:57:56.396Z,1611795476.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.40 m.
2021-01-28T00:57:56.398Z,1611795476.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.400002 m,
      bearing: 168.725548 deg,
      approachRate: -1.072730 m/s,
      LOS rate: 0.131452 deg/s,
      cmd update: 0.525806 deg/s,
      cmd heading: 165.667946 deg,
      new cmd heading: 164.786041 deg.

2021-01-28T00:57:58.826Z,1611795478.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:57:59.566Z,1611795479.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:57:59.948Z,1611795479.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:00.793Z,1611795480.793 [Micromodem](INFO): Nmea in: $SNTTA,0.013381,,,,005801.30*47

2021-01-28T00:58:00.857Z,1611795480.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 167.353268 deg, deltaT: 4.445378 s, approachRate: -0.796333 m/s, LOS rate: -0.308698 deg/s, posRepo size: 4
2021-01-28T00:58:00.857Z,1611795480.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 19.86 m.
2021-01-28T00:58:00.858Z,1611795480.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 19.86 m.
2021-01-28T00:58:00.858Z,1611795480.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-28T00:58:00.866Z,1611795480.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.860001 m,
      bearing: 167.353268 deg,
      approachRate: -0.796333 m/s,
      LOS rate: -0.308698 deg/s,
      cmd update: -1.234793 deg/s,
      cmd heading: 168.011713 deg,
      new cmd heading: 168.244251 deg.

2021-01-28T00:58:03.198Z,1611795483.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:03.982Z,1611795483.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:04.392Z,1611795484.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:05.225Z,1611795485.225 [Micromodem](INFO): Nmea in: $SNTTA,0.011007,,,,005805.72*4A

2021-01-28T00:58:05.266Z,1611795485.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.260000 m, bearing: 163.377934 deg, deltaT: 4.466477 s, approachRate: -0.806004 m/s, LOS rate: -0.890038 deg/s, posRepo size: 4
2021-01-28T00:58:05.268Z,1611795485.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.260000 m,
      bearing: 163.377934 deg,
      approachRate: -0.806004 m/s,
      LOS rate: -0.890038 deg/s,
      cmd update: -3.560152 deg/s,
      cmd heading: 162.496363 deg,
      new cmd heading: 161.995551 deg.

2021-01-28T00:58:07.724Z,1611795487.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:08.427Z,1611795488.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:08.838Z,1611795488.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:09.688Z,1611795489.688 [Micromodem](INFO): Nmea in: $SNTTA,0.008680,,,,005810.16*4D

2021-01-28T00:58:09.749Z,1611795489.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 160.127132 deg, deltaT: 4.406601 s, approachRate: -0.776108 m/s, LOS rate: -0.737712 deg/s, posRepo size: 4
2021-01-28T00:58:09.751Z,1611795489.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 160.127132 deg,
      approachRate: -0.776108 m/s,
      LOS rate: -0.737712 deg/s,
      cmd update: -2.950847 deg/s,
      cmd heading: 146.850820 deg,
      new cmd heading: 145.089517 deg.

2021-01-28T00:58:12.116Z,1611795492.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:12.878Z,1611795492.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:13.284Z,1611795493.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:14.133Z,1611795494.133 [Micromodem](INFO): Nmea in: $SNTTA,0.006434,,,,005814.62*49

2021-01-28T00:58:14.175Z,1611795494.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.479997 m, bearing: 162.548134 deg, deltaT: 4.481326 s, approachRate: -0.749779 m/s, LOS rate: 0.540242 deg/s, posRepo size: 4
2021-01-28T00:58:14.181Z,1611795494.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 162.548134 deg,
      approachRate: -0.749779 m/s,
      LOS rate: 0.540242 deg/s,
      cmd update: 2.160969 deg/s,
      cmd heading: 133.580033 deg,
      new cmd heading: 132.332046 deg.

2021-01-28T00:58:16.526Z,1611795496.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:17.318Z,1611795497.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:17.744Z,1611795497.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:18.565Z,1611795498.565 [Micromodem](INFO): Nmea in: $SNTTA,0.004355,,,,005819.06*44

2021-01-28T00:58:18.634Z,1611795498.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 165.303747 deg, deltaT: 4.396668 s, approachRate: -0.709628 m/s, LOS rate: 0.626750 deg/s, posRepo size: 4
2021-01-28T00:58:18.635Z,1611795498.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 165.303747 deg,
      approachRate: -0.709628 m/s,
      LOS rate: 0.626750 deg/s,
      cmd update: 2.507001 deg/s,
      cmd heading: 143.081130 deg,
      new cmd heading: 144.129168 deg.

2021-01-28T00:58:21.036Z,1611795501.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:21.766Z,1611795501.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:22.169Z,1611795502.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:23.014Z,1611795503.014 [Micromodem](INFO): Nmea in: $SNTTA,0.002679,,,,005823.50*43

2021-01-28T00:58:23.049Z,1611795503.049 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-28T00:58:23.049Z,1611795503.049 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:58:23.049Z,1611795503.049 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-28T00:58:23.049Z,1611795503.049 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:58:23.050Z,1611795503.050 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-28T00:58:23.050Z,1611795503.050 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.599999 m 
2021-01-28T00:58:23.050Z,1611795503.050 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-28T00:58:23.050Z,1611795503.050 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-28T00:58:23.050Z,1611795503.050 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-28T00:58:23.053Z,1611795503.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.599999 m, bearing: 179.896459 deg, deltaT: 4.485281 s, approachRate: -0.615346 m/s, LOS rate: 3.253467 deg/s, posRepo size: 4
2021-01-28T00:58:23.055Z,1611795503.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.599999 m,
      bearing: 179.896459 deg,
      approachRate: -0.615346 m/s,
      LOS rate: 3.253467 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 154.315499 deg,
      new cmd heading: 155.375346 deg.

2021-01-28T00:58:23.399Z,1611795503.399 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210128T005823: (41.551998, -70.709610)
2021-01-28T00:58:23.400Z,1611795503.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-28T00:58:23.400Z,1611795503.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-28T00:58:23.400Z,1611795503.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:58:23.400Z,1611795503.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-28T00:58:23.400Z,1611795503.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T00:58:23.400Z,1611795503.400 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-28T00:58:23.400Z,1611795503.400 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-28T00:58:23.400Z,1611795503.400 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-28T00:58:25.430Z,1611795505.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:26.206Z,1611795506.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:26.630Z,1611795506.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:27.449Z,1611795507.449 [Micromodem](INFO): Nmea in: $SNTTA,0.001799,,,,005827.94*43

2021-01-28T00:58:27.465Z,1611795507.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.699998 m, bearing: 176.357861 deg, deltaT: 4.424137 s, approachRate: -0.203430 m/s, LOS rate: -0.799839 deg/s, posRepo size: 4
2021-01-28T00:58:27.467Z,1611795507.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.699998 m,
      bearing: 176.357861 deg,
      approachRate: -0.203430 m/s,
      LOS rate: -0.799839 deg/s,
      cmd update: -3.199357 deg/s,
      cmd heading: 207.454009 deg,
      new cmd heading: 212.330905 deg.

2021-01-28T00:58:29.893Z,1611795509.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:30.667Z,1611795510.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:31.060Z,1611795511.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:31.893Z,1611795511.893 [Micromodem](INFO): Nmea in: $SNTTA,0.003606,,,,005832.41*4A

2021-01-28T00:58:31.944Z,1611795511.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.160000 m, bearing: 200.430057 deg, deltaT: 4.419409 s, approachRate: 0.556636 m/s, LOS rate: 5.446926 deg/s, posRepo size: 4
2021-01-28T00:58:31.946Z,1611795511.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 200.430057 deg,
      approachRate: 0.556636 m/s,
      LOS rate: 5.446926 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 193.314833 deg,
      new cmd heading: 191.822461 deg.

2021-01-28T00:58:34.306Z,1611795514.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:35.090Z,1611795515.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:35.500Z,1611795515.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:36.333Z,1611795516.333 [Micromodem](INFO): Nmea in: $SNTTA,0.006171,,,,005836.83*42

2021-01-28T00:58:36.369Z,1611795516.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 176.214004 deg, deltaT: 4.486559 s, approachRate: 0.882636 m/s, LOS rate: -5.397467 deg/s, posRepo size: 4
2021-01-28T00:58:36.371Z,1611795516.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 176.214004 deg,
      approachRate: 0.882636 m/s,
      LOS rate: -5.397467 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 247.151826 deg,
      new cmd heading: 252.004183 deg.

2021-01-28T00:58:38.939Z,1611795518.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:39.538Z,1611795519.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:39.952Z,1611795519.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:40.797Z,1611795520.797 [Micromodem](INFO): Nmea in: $SNTTA,0.009387,,,,005841.28*47

2021-01-28T00:58:40.844Z,1611795520.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 192.716560 deg, deltaT: 4.407237 s, approachRate: 1.143573 m/s, LOS rate: 3.744422 deg/s, posRepo size: 4
2021-01-28T00:58:40.846Z,1611795520.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 192.716560 deg,
      approachRate: 1.143573 m/s,
      LOS rate: 3.744422 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 194.262881 deg,
      new cmd heading: 188.588681 deg.

2021-01-28T00:58:43.212Z,1611795523.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:43.982Z,1611795523.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:44.392Z,1611795524.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:45.245Z,1611795525.245 [Micromodem](INFO): Nmea in: $SNTTA,0.011647,,,,005845.72*4C

2021-01-28T00:58:45.267Z,1611795525.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 243.916765 deg, deltaT: 4.468915 s, approachRate: 1.074087 m/s, LOS rate: 11.456965 deg/s, posRepo size: 4
2021-01-28T00:58:45.288Z,1611795525.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.96 m. Rolling out.
2021-01-28T00:58:45.293Z,1611795525.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-28T00:58:45.612Z,1611795525.612 [DDM](ERROR): Could not parse latch state
2021-01-28T00:58:47.694Z,1611795527.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:48.426Z,1611795528.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:48.828Z,1611795528.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:49.692Z,1611795529.692 [Micromodem](INFO): Nmea in: $SNTTA,0.012627,,,,005850.17*4E

2021-01-28T00:58:49.758Z,1611795529.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.459999 m, bearing: 234.529763 deg, deltaT: 4.453322 s, approachRate: 0.336827 m/s, LOS rate: -2.107865 deg/s, posRepo size: 4
2021-01-28T00:58:52.103Z,1611795532.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:52.871Z,1611795532.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:53.280Z,1611795533.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:54.121Z,1611795534.121 [Micromodem](INFO): Nmea in: $SNTTA,0.016235,,,0.038380,005854.61*56

2021-01-28T00:58:54.146Z,1611795534.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.300001 m, bearing: 221.304864 deg, deltaT: 4.455871 s, approachRate: 0.861785 m/s, LOS rate: -2.967972 deg/s, posRepo size: 4
2021-01-28T00:58:56.522Z,1611795536.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:58:57.310Z,1611795537.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:58:57.732Z,1611795537.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:58:58.549Z,1611795538.549 [Micromodem](INFO): Nmea in: $SNTTA,0.017741,,,,005859.05*40

2021-01-28T00:58:59.355Z,1611795539.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:00.949Z,1611795540.949 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:59:02.178Z,1611795542.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:02.970Z,1611795542.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:03.383Z,1611795543.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:04.217Z,1611795544.217 [Micromodem](INFO): Nmea in: $SNTTA,0.020609,,,,005904.71*43

2021-01-28T00:59:04.239Z,1611795544.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.900002 m, bearing: 292.868048 deg, deltaT: 10.069571 s, approachRate: 0.655440 m/s, LOS rate: 7.106875 deg/s, posRepo size: 4
2021-01-28T00:59:06.653Z,1611795546.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:07.414Z,1611795547.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:07.822Z,1611795547.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:08.667Z,1611795548.667 [Micromodem](INFO): Nmea in: $SNTTA,0.022721,,,,005909.15*45

2021-01-28T00:59:08.757Z,1611795548.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 231.055683 deg, deltaT: 4.450333 s, approachRate: 0.728034 m/s, LOS rate: -13.889380 deg/s, posRepo size: 4
2021-01-28T00:59:11.111Z,1611795551.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:11.860Z,1611795551.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:12.264Z,1611795552.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:13.094Z,1611795553.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005913.60*56

2021-01-28T00:59:13.475Z,1611795553.475 [PowerOnly](INFO): Powering down loadControl
2021-01-28T00:59:13.943Z,1611795553.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:15.493Z,1611795555.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T00:59:16.786Z,1611795556.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:17.510Z,1611795557.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:17.931Z,1611795557.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:18.781Z,1611795558.781 [Micromodem](INFO): Nmea in: $SNTTA,0.028551,,0.142526,0.085395,005919.25*4C

2021-01-28T00:59:18.840Z,1611795558.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.899998 m, bearing: 251.585701 deg, deltaT: 10.064277 s, approachRate: 0.870405 m/s, LOS rate: 2.039890 deg/s, posRepo size: 4
2021-01-28T00:59:21.177Z,1611795561.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:21.962Z,1611795561.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:22.383Z,1611795562.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:23.208Z,1611795563.208 [Micromodem](INFO): Nmea in: $SNTTA,0.031057,,,,005923.70*4A

2021-01-28T00:59:23.227Z,1611795563.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.619999 m, bearing: 250.553469 deg, deltaT: 4.491854 s, approachRate: 0.828166 m/s, LOS rate: -0.229801 deg/s, posRepo size: 4
2021-01-28T00:59:25.671Z,1611795565.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:26.398Z,1611795566.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:26.816Z,1611795566.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:27.661Z,1611795567.661 [Micromodem](INFO): Nmea in: $SNTTA,0.033720,,,,005928.14*46

2021-01-28T00:59:27.753Z,1611795567.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 242.857102 deg, deltaT: 4.404811 s, approachRate: 0.912638 m/s, LOS rate: -1.747264 deg/s, posRepo size: 4
2021-01-28T00:59:30.096Z,1611795570.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:30.846Z,1611795570.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:31.256Z,1611795571.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:32.089Z,1611795572.089 [Micromodem](INFO): Nmea in: $SNTTA,0.036482,,,,005932.58*4B

2021-01-28T00:59:32.130Z,1611795572.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.840000 m, bearing: 240.926372 deg, deltaT: 4.509128 s, approachRate: 0.931445 m/s, LOS rate: -0.428183 deg/s, posRepo size: 4
2021-01-28T00:59:34.522Z,1611795574.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:35.294Z,1611795575.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:35.721Z,1611795575.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:36.568Z,1611795576.568 [Micromodem](INFO): Nmea in: $SNTTA,0.039236,,,,005937.03*46

2021-01-28T00:59:36.628Z,1611795576.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 239.836246 deg, deltaT: 4.373739 s, approachRate: 0.932842 m/s, LOS rate: -0.249243 deg/s, posRepo size: 4
2021-01-28T00:59:38.972Z,1611795578.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:39.740Z,1611795579.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:40.150Z,1611795580.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:40.990Z,1611795580.990 [Micromodem](INFO): Nmea in: $SNTTA,0.042384,,,0.128934,005941.48*57

2021-01-28T00:59:41.054Z,1611795581.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.240005 m, bearing: 214.636222 deg, deltaT: 4.513942 s, approachRate: 0.957035 m/s, LOS rate: -5.582709 deg/s, posRepo size: 4
2021-01-28T00:59:43.389Z,1611795583.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:44.186Z,1611795584.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:44.614Z,1611795584.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:45.437Z,1611795585.437 [Micromodem](INFO): Nmea in: $SNTTA,0.044917,,,,005945.92*49

2021-01-28T00:59:45.459Z,1611795585.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.500000 m, bearing: 213.165054 deg, deltaT: 4.404415 s, approachRate: 0.967210 m/s, LOS rate: -0.334021 deg/s, posRepo size: 4
2021-01-28T00:59:47.859Z,1611795587.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:48.654Z,1611795588.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:49.032Z,1611795589.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:49.862Z,1611795589.862 [Micromodem](INFO): Nmea in: $SNTTA,0.047833,,,,005950.39*48

2021-01-28T00:59:49.925Z,1611795589.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 219.778207 deg, deltaT: 4.426626 s, approachRate: 0.989468 m/s, LOS rate: 1.493949 deg/s, posRepo size: 4
2021-01-28T00:59:52.343Z,1611795592.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:53.066Z,1611795593.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:53.482Z,1611795593.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:54.325Z,1611795594.325 [Micromodem](INFO): Nmea in: $SNTTA,0.050544,,,,005954.80*45

2021-01-28T00:59:54.347Z,1611795594.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 220.273724 deg, deltaT: 4.464196 s, approachRate: 0.900497 m/s, LOS rate: 0.110998 deg/s, posRepo size: 4
2021-01-28T00:59:56.770Z,1611795596.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T00:59:57.538Z,1611795597.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T00:59:57.924Z,1611795597.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T00:59:58.757Z,1611795598.757 [Micromodem](INFO): Nmea in: $SNTTA,0.053451,,,,005959.27*43

2021-01-28T00:59:58.820Z,1611795598.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.279999 m, bearing: 192.922709 deg, deltaT: 4.420927 s, approachRate: 0.990742 m/s, LOS rate: -6.186715 deg/s, posRepo size: 4
2021-01-28T01:00:01.166Z,1611795601.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:01.963Z,1611795601.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:02.364Z,1611795602.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:03.209Z,1611795603.209 [Micromodem](INFO): Nmea in: $SNTTA,0.056221,,,,010003.70*47

2021-01-28T01:00:03.224Z,1611795603.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.420006 m, bearing: 201.640599 deg, deltaT: 4.506542 s, approachRate: 0.918666 m/s, LOS rate: 1.934497 deg/s, posRepo size: 4
2021-01-28T01:00:05.643Z,1611795605.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:06.398Z,1611795606.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:06.816Z,1611795606.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:07.662Z,1611795607.662 [Micromodem](INFO): Nmea in: $SNTTA,0.059092,,0.060442,,010008.14*51

2021-01-28T01:00:07.698Z,1611795607.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 197.902614 deg, deltaT: 4.375460 s, approachRate: 0.987325 m/s, LOS rate: -0.854307 deg/s, posRepo size: 4
2021-01-28T01:00:09.734Z,1611795609.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:10.442Z,1611795610.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:10.852Z,1611795610.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:11.700Z,1611795611.700 [Micromodem](INFO): Nmea in: $SNTTA,0.061636,,,,010012.18*4F

2021-01-28T01:00:11.752Z,1611795611.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.580002 m, bearing: 190.069152 deg, deltaT: 4.066354 s, approachRate: 0.944334 m/s, LOS rate: -1.926409 deg/s, posRepo size: 4
2021-01-28T01:00:14.103Z,1611795614.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:14.883Z,1611795614.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:15.297Z,1611795615.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:16.129Z,1611795616.129 [Micromodem](INFO): Nmea in: $SNTTA,0.064415,,,,010016.62*40

2021-01-28T01:00:16.144Z,1611795616.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 242.678315 deg, deltaT: 4.481613 s, approachRate: 1.004104 m/s, LOS rate: 11.738890 deg/s, posRepo size: 4
2021-01-28T01:00:18.545Z,1611795618.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:19.334Z,1611795619.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:19.764Z,1611795619.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:20.592Z,1611795620.592 [Micromodem](INFO): Nmea in: $SNTTA,0.067302,,,,010021.07*45

2021-01-28T01:00:20.660Z,1611795620.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 232.786289 deg, deltaT: 4.380162 s, approachRate: 0.986265 m/s, LOS rate: -2.258370 deg/s, posRepo size: 4
2021-01-28T01:00:23.043Z,1611795623.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:23.774Z,1611795623.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:24.185Z,1611795624.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:25.008Z,1611795625.008 [Micromodem](INFO): Nmea in: $SNTTA,0.070235,,,,010025.51*41

2021-01-28T01:00:25.842Z,1611795625.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:27.409Z,1611795627.409 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:00:28.727Z,1611795628.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:29.430Z,1611795629.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:29.844Z,1611795629.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:30.705Z,1611795630.705 [Micromodem](INFO): Nmea in: $SNTTA,0.073808,,,,010031.17*41

2021-01-28T01:00:30.735Z,1611795630.735 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-28T01:00:30.748Z,1611795630.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 238.211508 deg, deltaT: 10.123820 s, approachRate: 0.960110 m/s, LOS rate: 0.535887 deg/s, posRepo size: 4
2021-01-28T01:00:33.099Z,1611795633.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:33.871Z,1611795633.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:34.315Z,1611795634.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:35.121Z,1611795635.121 [Micromodem](INFO): Nmea in: $SNTTA,0.076581,0.083331,,,010035.61*59

2021-01-28T01:00:35.143Z,1611795635.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.320000 m, bearing: 242.488081 deg, deltaT: 4.488268 s, approachRate: 0.935774 m/s, LOS rate: 0.952834 deg/s, posRepo size: 4
2021-01-28T01:00:37.522Z,1611795637.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:38.314Z,1611795638.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:38.734Z,1611795638.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:39.567Z,1611795639.567 [Micromodem](INFO): Nmea in: $SNTTA,0.079451,,,,010040.05*4E

2021-01-28T01:00:39.634Z,1611795639.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.520004 m, bearing: 241.682364 deg, deltaT: 4.404136 s, approachRate: 0.953650 m/s, LOS rate: -0.182945 deg/s, posRepo size: 4
2021-01-28T01:00:42.043Z,1611795642.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:42.766Z,1611795642.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:43.164Z,1611795643.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:44.010Z,1611795644.010 [Micromodem](INFO): Nmea in: $SNTTA,0.082256,,,,010044.50*4F

2021-01-28T01:00:44.061Z,1611795644.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.840004 m, bearing: 244.228413 deg, deltaT: 4.475402 s, approachRate: 0.965276 m/s, LOS rate: 0.568898 deg/s, posRepo size: 4
2021-01-28T01:00:46.413Z,1611795646.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:47.202Z,1611795647.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:47.624Z,1611795647.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:48.438Z,1611795648.438 [Micromodem](INFO): Nmea in: $SNTTA,0.085046,,,,010048.94*4F

2021-01-28T01:00:49.234Z,1611795649.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:50.833Z,1611795650.833 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:00:51.739Z,1611795651.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:52.454Z,1611795652.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:52.865Z,1611795652.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:53.724Z,1611795653.724 [Micromodem](INFO): Nmea in: $SNTTA,0.088426,,,,010054.19*48

2021-01-28T01:00:53.795Z,1611795653.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.960007 m, bearing: 259.246769 deg, deltaT: 9.652469 s, approachRate: 0.944836 m/s, LOS rate: 1.555908 deg/s, posRepo size: 4
2021-01-28T01:00:56.119Z,1611795656.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:00:56.910Z,1611795656.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:00:57.300Z,1611795657.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:00:58.141Z,1611795658.141 [Micromodem](INFO): Nmea in: $SNTTA,0.091261,,,,010058.65*42

2021-01-28T01:00:58.163Z,1611795658.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.279999 m, bearing: 233.084413 deg, deltaT: 4.501242 s, approachRate: 0.959733 m/s, LOS rate: -5.812253 deg/s, posRepo size: 4
2021-01-28T01:01:00.551Z,1611795660.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:01.343Z,1611795661.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:01.772Z,1611795661.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:02.601Z,1611795662.601 [Micromodem](INFO): Nmea in: $SNTTA,0.094040,,,,010103.08*42

2021-01-28T01:01:02.648Z,1611795662.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 244.471813 deg, deltaT: 4.389965 s, approachRate: 0.956727 m/s, LOS rate: 2.593962 deg/s, posRepo size: 4
2021-01-28T01:01:05.049Z,1611795665.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:05.786Z,1611795665.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:06.201Z,1611795666.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:07.023Z,1611795667.023 [Micromodem](INFO): Nmea in: $SNTTA,0.096915,,,,010107.52*42

2021-01-28T01:01:07.858Z,1611795667.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:09.417Z,1611795669.417 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:01:10.736Z,1611795670.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:11.450Z,1611795671.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:11.856Z,1611795671.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:12.688Z,1611795672.688 [Micromodem](INFO): Nmea in: $SNTTA,0.100508,,,,010113.19*46

2021-01-28T01:01:12.773Z,1611795672.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.140015 m, bearing: 274.634093 deg, deltaT: 10.087091 s, approachRate: 0.957662 m/s, LOS rate: 2.990186 deg/s, posRepo size: 4
2021-01-28T01:01:12.773Z,1611795672.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.14 m. Resuming terminal guidance.
2021-01-28T01:01:12.773Z,1611795672.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-28T01:01:15.119Z,1611795675.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:15.896Z,1611795675.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:16.292Z,1611795676.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:17.133Z,1611795677.133 [Micromodem](INFO): Nmea in: $SNTTA,0.103292,,,,010117.63*48

2021-01-28T01:01:17.167Z,1611795677.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 267.023404 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-28T01:01:17.168Z,1611795677.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 267.023404deg and heading rate command to 0 deg/s.
2021-01-28T01:01:19.558Z,1611795679.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:20.338Z,1611795680.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:20.764Z,1611795680.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:21.612Z,1611795681.612 [Micromodem](INFO): Nmea in: $SNTTA,0.106020,,,,010122.07*42

2021-01-28T01:01:21.650Z,1611795681.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.360001 m, bearing: 266.808226 deg, deltaT: 4.416121 s, approachRate: 0.923888 m/s, LOS rate: -0.048726 deg/s, posRepo size: 2
2021-01-28T01:01:21.652Z,1611795681.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.360001 m,
      bearing: 266.808226 deg,
      approachRate: 0.923888 m/s,
      LOS rate: -0.048726 deg/s,
      cmd update: -0.194903 deg/s,
      cmd heading: 267.023404 deg,
      new cmd heading: 267.023404 deg.

2021-01-28T01:01:24.039Z,1611795684.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:24.775Z,1611795684.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:25.190Z,1611795685.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:26.025Z,1611795686.025 [Micromodem](INFO): Nmea in: $SNTTA,0.108760,,,,010126.51*48

2021-01-28T01:01:26.050Z,1611795686.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.199997 m, bearing: 262.457204 deg, deltaT: 4.488948 s, approachRate: 0.855433 m/s, LOS rate: -0.969274 deg/s, posRepo size: 3
2021-01-28T01:01:26.052Z,1611795686.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.199997 m,
      bearing: 262.457204 deg,
      approachRate: 0.855433 m/s,
      LOS rate: -0.969274 deg/s,
      cmd update: -3.877097 deg/s,
      cmd heading: 266.151183 deg,
      new cmd heading: 266.072722 deg.

2021-01-28T01:01:28.430Z,1611795688.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:29.214Z,1611795689.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:29.652Z,1611795689.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:30.457Z,1611795690.457 [Micromodem](INFO): Nmea in: $SNTTA,0.111279,,,,010130.95*42

2021-01-28T01:01:30.494Z,1611795690.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 259.310044 deg, deltaT: 4.415208 s, approachRate: 0.869724 m/s, LOS rate: -0.712800 deg/s, posRepo size: 4
2021-01-28T01:01:30.497Z,1611795690.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 259.310044 deg,
      approachRate: 0.869724 m/s,
      LOS rate: -0.712800 deg/s,
      cmd update: -2.851200 deg/s,
      cmd heading: 248.972273 deg,
      new cmd heading: 247.358164 deg.

2021-01-28T01:01:32.935Z,1611795692.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:33.666Z,1611795693.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:34.084Z,1611795694.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:34.917Z,1611795694.917 [Micromodem](INFO): Nmea in: $SNTTA,0.113993,,,,010135.41*43

2021-01-28T01:01:34.979Z,1611795694.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 234.330731 deg, deltaT: 4.423633 s, approachRate: 0.000000 m/s, LOS rate: -5.646787 deg/s, posRepo size: 4
2021-01-28T01:01:34.987Z,1611795694.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 234.330731 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.646787 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 236.356159 deg,
      new cmd heading: 234.999456 deg.

2021-01-28T01:01:36.921Z,1611795696.921 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-01-28T01:01:37.322Z,1611795697.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:38.110Z,1611795698.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:38.521Z,1611795698.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:39.353Z,1611795699.353 [Micromodem](INFO): Nmea in: $SNTTA,0.116780,,,,010139.85*4E

2021-01-28T01:01:39.375Z,1611795699.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 214.512992 deg, deltaT: 4.503012 s, approachRate: 0.000000 m/s, LOS rate: -4.400996 deg/s, posRepo size: 4
2021-01-28T01:01:39.377Z,1611795699.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 214.512992 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.400996 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 182.433618 deg,
      new cmd heading: 177.889493 deg.

2021-01-28T01:01:41.812Z,1611795701.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:42.550Z,1611795702.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:42.976Z,1611795702.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:43.010Z,1611795703.010 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T01:01:43.782Z,1611795703.782 [Micromodem](INFO): Nmea in: $SNTTA,0.119412,,,,010144.29*45

2021-01-28T01:01:44.639Z,1611795704.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:46.185Z,1611795706.185 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:01:46.632Z,1611795706.632 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T01:01:47.417Z,1611795707.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:48.206Z,1611795708.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:48.632Z,1611795708.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:49.019Z,1611795709.019 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,00,80,63,E4
1,186,80,80,34,FF
2021-01-28T01:01:49.438Z,1611795709.438 [Micromodem](INFO): Nmea in: $SNTTA,0.122045,,0.129631,,010149.94*50

2021-01-28T01:01:50.238Z,1611795710.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:53.079Z,1611795713.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:55.930Z,1611795715.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:01:56.697Z,1611795716.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:01:56.725Z,1611795716.725 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-28T01:01:57.096Z,1611795717.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:01:57.928Z,1611795717.928 [Micromodem](INFO): Nmea in: $SNTTA,0.123827,,,,010158.43*47

2021-01-28T01:01:58.368Z,1611795718.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.820007 m, bearing: 110.731416 deg, deltaT: 18.994680 s, approachRate: 0.988698 m/s, LOS rate: -5.463718 deg/s, posRepo size: 4
2021-01-28T01:01:58.370Z,1611795718.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.820007 m,
      bearing: 110.731416 deg,
      approachRate: 0.988698 m/s,
      LOS rate: -5.463718 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 314.633051 deg,
      new cmd heading: 310.022543 deg.

2021-01-28T01:02:00.793Z,1611795720.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:01.542Z,1611795721.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:01.956Z,1611795721.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:02.776Z,1611795722.776 [Micromodem](INFO): Nmea in: $SNTTA,0.123764,,,,010203.28*4F

2021-01-28T01:02:03.191Z,1611795723.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 37.768204 deg, deltaT: 4.844573 s, approachRate: -0.086698 m/s, LOS rate: -15.060813 deg/s, posRepo size: 4
2021-01-28T01:02:03.191Z,1611795723.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.060813 deg/s. Setting heading cmd to target bearing of 37.768204deg and heading rate command to 0 deg/s.
2021-01-28T01:02:05.633Z,1611795725.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:06.382Z,1611795726.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:06.800Z,1611795726.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:07.645Z,1611795727.645 [Micromodem](INFO): Nmea in: $SNTTA,0.122815,,,,010208.12*45

2021-01-28T01:02:07.730Z,1611795727.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 41.024121 deg, deltaT: 4.384496 s, approachRate: 0.000000 m/s, LOS rate: 0.742598 deg/s, posRepo size: 4
2021-01-28T01:02:07.731Z,1611795727.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 41.024121 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.742598 deg/s,
      cmd update: 2.970391 deg/s,
      cmd heading: 37.768204 deg,
      new cmd heading: 37.768204 deg.

2021-01-28T01:02:10.071Z,1611795730.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:10.834Z,1611795730.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:11.245Z,1611795731.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:12.086Z,1611795732.086 [Micromodem](INFO): Nmea in: $SNTTA,0.121975,,,,010212.57*4B

2021-01-28T01:02:12.146Z,1611795732.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.760010 m, bearing: 42.172839 deg, deltaT: 4.512150 s, approachRate: -0.585083 m/s, LOS rate: 0.254583 deg/s, posRepo size: 4
2021-01-28T01:02:12.152Z,1611795732.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.760010 m,
      bearing: 42.172839 deg,
      approachRate: -0.585083 m/s,
      LOS rate: 0.254583 deg/s,
      cmd update: 1.018333 deg/s,
      cmd heading: 51.163432 deg,
      new cmd heading: 52.372495 deg.

2021-01-28T01:02:14.485Z,1611795734.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:15.287Z,1611795735.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:15.680Z,1611795735.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:16.504Z,1611795736.504 [Micromodem](INFO): Nmea in: $SNTTA,0.121301,,,,010217.02*47

2021-01-28T01:02:16.950Z,1611795736.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 43.670935 deg, deltaT: 4.776350 s, approachRate: -0.238676 m/s, LOS rate: 0.313649 deg/s, posRepo size: 4
2021-01-28T01:02:16.951Z,1611795736.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.620010 m,
      bearing: 43.670935 deg,
      approachRate: -0.238676 m/s,
      LOS rate: 0.313649 deg/s,
      cmd update: 1.254595 deg/s,
      cmd heading: 56.031254 deg,
      new cmd heading: 56.469635 deg.

2021-01-28T01:02:19.330Z,1611795739.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:20.126Z,1611795740.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:20.534Z,1611795740.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:21.370Z,1611795741.370 [Micromodem](INFO): Nmea in: $SNTTA,0.119836,,,,010221.86*4A

2021-01-28T01:02:21.818Z,1611795741.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 49.804910 deg, deltaT: 4.865278 s, approachRate: -0.382301 m/s, LOS rate: 1.260765 deg/s, posRepo size: 4
2021-01-28T01:02:21.819Z,1611795741.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.760010 m,
      bearing: 49.804910 deg,
      approachRate: -0.382301 m/s,
      LOS rate: 1.260765 deg/s,
      cmd update: 5.043062 deg/s,
      cmd heading: 62.135426 deg,
      new cmd heading: 62.678686 deg.

2021-01-28T01:02:24.182Z,1611795744.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:24.970Z,1611795744.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:25.376Z,1611795745.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:26.221Z,1611795746.221 [Micromodem](INFO): Nmea in: $SNTTA,0.117968,,,,010226.71*41

2021-01-28T01:02:26.258Z,1611795746.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 49.975572 deg, deltaT: 4.467442 s, approachRate: 0.000000 m/s, LOS rate: 0.038201 deg/s, posRepo size: 4
2021-01-28T01:02:26.260Z,1611795746.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.760010 m,
      bearing: 49.975572 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.038201 deg/s,
      cmd update: 0.152806 deg/s,
      cmd heading: 84.635005 deg,
      new cmd heading: 86.714411 deg.

2021-01-28T01:02:26.646Z,1611795746.646 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-28T01:02:28.653Z,1611795748.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:29.423Z,1611795749.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:29.832Z,1611795749.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:30.672Z,1611795750.672 [Micromodem](INFO): Nmea in: $SNTTA,0.116732,,,,010231.16*46

2021-01-28T01:02:30.739Z,1611795750.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 63.066661 deg, deltaT: 4.407644 s, approachRate: 0.000000 m/s, LOS rate: 2.970088 deg/s, posRepo size: 4
2021-01-28T01:02:30.746Z,1611795750.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.760010 m,
      bearing: 63.066661 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.970088 deg/s,
      cmd update: 11.880351 deg/s,
      cmd heading: 85.306780 deg,
      new cmd heading: 85.382762 deg.

2021-01-28T01:02:33.087Z,1611795753.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:33.918Z,1611795753.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:34.270Z,1611795754.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:35.489Z,1611795755.489 [Micromodem](INFO): Nmea in: $SNTTA,0.115349,,,,010235.65*4D

2021-01-28T01:02:35.534Z,1611795755.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.919998 m, bearing: 44.883823 deg, deltaT: 4.892700 s, approachRate: -1.398003 m/s, LOS rate: -3.716320 deg/s, posRepo size: 4
2021-01-28T01:02:35.537Z,1611795755.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.919998 m,
      bearing: 44.883823 deg,
      approachRate: -1.398003 m/s,
      LOS rate: -3.716320 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 143.589952 deg,
      new cmd heading: 148.177335 deg.

2021-01-28T01:02:37.960Z,1611795757.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:38.729Z,1611795758.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:39.112Z,1611795759.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:39.934Z,1611795759.934 [Micromodem](INFO): Nmea in: $SNTTA,0.114566,,0.122240,,010240.47*5C

2021-01-28T01:02:40.366Z,1611795760.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.539993 m, bearing: 37.361674 deg, deltaT: 4.843011 s, approachRate: -0.284948 m/s, LOS rate: -1.553197 deg/s, posRepo size: 4
2021-01-28T01:02:40.369Z,1611795760.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.539993 m,
      bearing: 37.361674 deg,
      approachRate: -0.284948 m/s,
      LOS rate: -1.553197 deg/s,
      cmd update: -6.212787 deg/s,
      cmd heading: 85.455494 deg,
      new cmd heading: 80.970110 deg.

2021-01-28T01:02:42.833Z,1611795762.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:43.551Z,1611795763.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:43.968Z,1611795763.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:44.813Z,1611795764.813 [Micromodem](INFO): Nmea in: $SNTTA,0.114089,,0.116851,,010245.29*58

2021-01-28T01:02:44.871Z,1611795764.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.539993 m, bearing: 46.502189 deg, deltaT: 4.414336 s, approachRate: 0.000000 m/s, LOS rate: 2.070643 deg/s, posRepo size: 4
2021-01-28T01:02:44.877Z,1611795764.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.539993 m,
      bearing: 46.502189 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.070643 deg/s,
      cmd update: 8.282573 deg/s,
      cmd heading: 58.038421 deg,
      new cmd heading: 55.145282 deg.

2021-01-28T01:02:47.221Z,1611795767.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:47.996Z,1611795767.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:48.412Z,1611795768.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:49.269Z,1611795769.269 [Micromodem](INFO): Nmea in: $SNTTA,0.113942,,,,010249.73*46

2021-01-28T01:02:49.308Z,1611795769.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.519989 m, bearing: 34.428323 deg, deltaT: 4.659205 s, approachRate: -0.218922 m/s, LOS rate: -2.591400 deg/s, posRepo size: 4
2021-01-28T01:02:49.310Z,1611795769.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.519989 m,
      bearing: 34.428323 deg,
      approachRate: -0.218922 m/s,
      LOS rate: -2.591400 deg/s,
      cmd update: -10.365601 deg/s,
      cmd heading: 96.661101 deg,
      new cmd heading: 98.609957 deg.

2021-01-28T01:02:51.778Z,1611795771.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:52.486Z,1611795772.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:52.892Z,1611795772.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:53.741Z,1611795773.741 [Micromodem](INFO): Nmea in: $SNTTA,0.112997,,,,010254.22*47

2021-01-28T01:02:53.775Z,1611795773.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.519989 m, bearing: 40.726260 deg, deltaT: 4.261665 s, approachRate: 0.000000 m/s, LOS rate: 1.477811 deg/s, posRepo size: 4
2021-01-28T01:02:53.777Z,1611795773.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.519989 m,
      bearing: 40.726260 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.477811 deg/s,
      cmd update: 5.911245 deg/s,
      cmd heading: 52.662058 deg,
      new cmd heading: 47.878427 deg.

2021-01-28T01:02:54.930Z,1611795774.930 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T01:02:56.138Z,1611795776.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:02:56.939Z,1611795776.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:02:57.332Z,1611795777.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:02:58.173Z,1611795778.173 [Micromodem](INFO): Nmea in: $SNTTA,0.111928,,,,010258.68*42

2021-01-28T01:02:58.206Z,1611795778.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.459991 m, bearing: 41.979056 deg, deltaT: 4.498623 s, approachRate: -0.680208 m/s, LOS rate: 0.278484 deg/s, posRepo size: 4
2021-01-28T01:02:58.208Z,1611795778.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.459991 m,
      bearing: 41.979056 deg,
      approachRate: -0.680208 m/s,
      LOS rate: 0.278484 deg/s,
      cmd update: 1.113938 deg/s,
      cmd heading: 79.258729 deg,
      new cmd heading: 81.584426 deg.

2021-01-28T01:03:00.632Z,1611795780.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:01.370Z,1611795781.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:01.784Z,1611795781.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:02.629Z,1611795782.629 [Micromodem](INFO): Nmea in: $SNTTA,0.110788,,,,010303.11*46

2021-01-28T01:03:02.655Z,1611795782.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.959991 m, bearing: 40.747744 deg, deltaT: 4.393368 s, approachRate: -0.341424 m/s, LOS rate: -0.280266 deg/s, posRepo size: 4
2021-01-28T01:03:02.658Z,1611795782.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.959991 m,
      bearing: 40.747744 deg,
      approachRate: -0.341424 m/s,
      LOS rate: -0.280266 deg/s,
      cmd update: -1.121065 deg/s,
      cmd heading: 84.152315 deg,
      new cmd heading: 84.653113 deg.

2021-01-28T01:03:05.051Z,1611795785.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:05.823Z,1611795785.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:06.228Z,1611795786.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:07.073Z,1611795787.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010307.56*58

2021-01-28T01:03:07.098Z,1611795787.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.040009 m, bearing: 41.657279 deg, deltaT: 4.519393 s, approachRate: -0.424832 m/s, LOS rate: 0.201252 deg/s, posRepo size: 4
2021-01-28T01:03:07.101Z,1611795787.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.040009 m,
      bearing: 41.657279 deg,
      approachRate: -0.424832 m/s,
      LOS rate: 0.201252 deg/s,
      cmd update: 0.805007 deg/s,
      cmd heading: 79.071416 deg,
      new cmd heading: 78.668091 deg.

2021-01-28T01:03:09.478Z,1611795789.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:10.262Z,1611795790.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:10.676Z,1611795790.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:11.509Z,1611795791.509 [Micromodem](INFO): Nmea in: $SNTTA,0.108198,,,,010312.00*48

2021-01-28T01:03:11.548Z,1611795791.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.120010 m, bearing: 41.300648 deg, deltaT: 4.379425 s, approachRate: -0.438413 m/s, LOS rate: -0.081433 deg/s, posRepo size: 4
2021-01-28T01:03:11.550Z,1611795791.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.120010 m,
      bearing: 41.300648 deg,
      approachRate: -0.438413 m/s,
      LOS rate: -0.081433 deg/s,
      cmd update: -0.325734 deg/s,
      cmd heading: 82.587262 deg,
      new cmd heading: 82.943042 deg.

2021-01-28T01:03:13.965Z,1611795793.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:14.734Z,1611795794.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:15.108Z,1611795795.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:15.930Z,1611795795.930 [Micromodem](INFO): Nmea in: $SNTTA,0.106796,,,,010316.47*49

2021-01-28T01:03:16.363Z,1611795796.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.020004 m, bearing: 38.255678 deg, deltaT: 4.880814 s, approachRate: -0.430257 m/s, LOS rate: -0.623865 deg/s, posRepo size: 4
2021-01-28T01:03:16.369Z,1611795796.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.020004 m,
      bearing: 38.255678 deg,
      approachRate: -0.430257 m/s,
      LOS rate: -0.623865 deg/s,
      cmd update: -2.495461 deg/s,
      cmd heading: 80.993117 deg,
      new cmd heading: 80.874793 deg.

2021-01-28T01:03:18.899Z,1611795798.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:19.571Z,1611795799.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:19.976Z,1611795799.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:20.809Z,1611795800.809 [Micromodem](INFO): Nmea in: $SNTTA,0.105363,,,,010321.31*41

2021-01-28T01:03:20.854Z,1611795800.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.100006 m, bearing: 38.689053 deg, deltaT: 4.389603 s, approachRate: -0.437397 m/s, LOS rate: 0.098728 deg/s, posRepo size: 4
2021-01-28T01:03:20.856Z,1611795800.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.100006 m,
      bearing: 38.689053 deg,
      approachRate: -0.437397 m/s,
      LOS rate: 0.098728 deg/s,
      cmd update: 0.394911 deg/s,
      cmd heading: 70.035384 deg,
      new cmd heading: 68.878401 deg.

2021-01-28T01:03:23.206Z,1611795803.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:23.999Z,1611795803.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:24.404Z,1611795804.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:25.251Z,1611795805.251 [Micromodem](INFO): Nmea in: $SNTTA,0.104134,,,0.128946,010325.74*5B

2021-01-28T01:03:25.277Z,1611795805.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 39.414057 deg, deltaT: 4.471260 s, approachRate: -0.523345 m/s, LOS rate: 0.162148 deg/s, posRepo size: 4
2021-01-28T01:03:25.279Z,1611795805.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.759995 m,
      bearing: 39.414057 deg,
      approachRate: -0.523345 m/s,
      LOS rate: 0.162148 deg/s,
      cmd update: 0.648590 deg/s,
      cmd heading: 71.801559 deg,
      new cmd heading: 71.965162 deg.

2021-01-28T01:03:27.691Z,1611795807.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:28.449Z,1611795808.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:28.857Z,1611795808.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:29.701Z,1611795809.701 [Micromodem](INFO): Nmea in: $SNTTA,0.102821,,0.113341,,010330.19*5A

2021-01-28T01:03:29.765Z,1611795809.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.080002 m, bearing: 37.823784 deg, deltaT: 4.429994 s, approachRate: -0.379231 m/s, LOS rate: -0.358979 deg/s, posRepo size: 4
2021-01-28T01:03:29.767Z,1611795809.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.080002 m,
      bearing: 37.823784 deg,
      approachRate: -0.379231 m/s,
      LOS rate: -0.358979 deg/s,
      cmd update: -1.435914 deg/s,
      cmd heading: 74.669376 deg,
      new cmd heading: 74.981226 deg.

2021-01-28T01:03:32.128Z,1611795812.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:32.886Z,1611795812.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:33.381Z,1611795813.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:34.133Z,1611795814.133 [Micromodem](INFO): Nmea in: $SNTTA,0.101481,,,,010334.62*4C

2021-01-28T01:03:34.168Z,1611795814.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.099991 m, bearing: 39.914345 deg, deltaT: 4.469409 s, approachRate: -0.443014 m/s, LOS rate: 0.467749 deg/s, posRepo size: 4
2021-01-28T01:03:34.170Z,1611795814.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.099991 m,
      bearing: 39.914345 deg,
      approachRate: -0.443014 m/s,
      LOS rate: 0.467749 deg/s,
      cmd update: 1.870995 deg/s,
      cmd heading: 68.239656 deg,
      new cmd heading: 67.656979 deg.

2021-01-28T01:03:36.534Z,1611795816.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:37.330Z,1611795817.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:37.764Z,1611795817.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:38.584Z,1611795818.584 [Micromodem](INFO): Nmea in: $SNTTA,0.099556,,,,010339.07*49

2021-01-28T01:03:38.631Z,1611795818.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.160004 m, bearing: 38.069661 deg, deltaT: 4.410117 s, approachRate: -0.666646 m/s, LOS rate: -0.418285 deg/s, posRepo size: 4
2021-01-28T01:03:38.637Z,1611795818.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.160004 m,
      bearing: 38.069661 deg,
      approachRate: -0.666646 m/s,
      LOS rate: -0.418285 deg/s,
      cmd update: -1.673138 deg/s,
      cmd heading: 76.490968 deg,
      new cmd heading: 77.348829 deg.

2021-01-28T01:03:41.026Z,1611795821.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:41.782Z,1611795821.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:42.182Z,1611795822.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:43.026Z,1611795823.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010343.52*5C

2021-01-28T01:03:43.064Z,1611795823.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.600006 m, bearing: 36.958789 deg, deltaT: 4.469984 s, approachRate: -0.348994 m/s, LOS rate: -0.248518 deg/s, posRepo size: 4
2021-01-28T01:03:43.066Z,1611795823.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.600006 m,
      bearing: 36.958789 deg,
      approachRate: -0.348994 m/s,
      LOS rate: -0.248518 deg/s,
      cmd update: -0.994073 deg/s,
      cmd heading: 69.030587 deg,
      new cmd heading: 68.307015 deg.

2021-01-28T01:03:45.458Z,1611795825.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:46.224Z,1611795826.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:46.663Z,1611795826.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:47.475Z,1611795827.475 [Micromodem](INFO): Nmea in: $SNTTA,0.096647,,,,010347.96*44

2021-01-28T01:03:47.498Z,1611795827.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.779999 m, bearing: 36.959964 deg, deltaT: 4.430739 s, approachRate: -0.636464 m/s, LOS rate: 0.000265 deg/s, posRepo size: 4
2021-01-28T01:03:47.502Z,1611795827.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.779999 m,
      bearing: 36.959964 deg,
      approachRate: -0.636464 m/s,
      LOS rate: 0.000265 deg/s,
      cmd update: 0.001061 deg/s,
      cmd heading: 64.615122 deg,
      new cmd heading: 64.192976 deg.

2021-01-28T01:03:49.901Z,1611795829.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:50.674Z,1611795830.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:51.068Z,1611795831.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:51.905Z,1611795831.905 [Micromodem](INFO): Nmea in: $SNTTA,0.095513,,,,010352.41*4B

2021-01-28T01:03:51.951Z,1611795831.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.280014 m, bearing: 36.546406 deg, deltaT: 4.448026 s, approachRate: -0.337225 m/s, LOS rate: -0.092976 deg/s, posRepo size: 4
2021-01-28T01:03:51.953Z,1611795831.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.280014 m,
      bearing: 36.546406 deg,
      approachRate: -0.337225 m/s,
      LOS rate: -0.092976 deg/s,
      cmd update: -0.371902 deg/s,
      cmd heading: 64.619836 deg,
      new cmd heading: 64.620296 deg.

2021-01-28T01:03:54.314Z,1611795834.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:55.106Z,1611795835.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:55.532Z,1611795835.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:03:56.345Z,1611795836.345 [Micromodem](INFO): Nmea in: $SNTTA,0.093946,,,,010356.84*4C

2021-01-28T01:03:56.367Z,1611795836.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 35.856229 deg, deltaT: 4.467497 s, approachRate: -0.523786 m/s, LOS rate: -0.154489 deg/s, posRepo size: 4
2021-01-28T01:03:56.397Z,1611795836.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.940002 m,
      bearing: 35.856229 deg,
      approachRate: -0.523786 m/s,
      LOS rate: -0.154489 deg/s,
      cmd update: -0.617954 deg/s,
      cmd heading: 62.960511 deg,
      new cmd heading: 62.816066 deg.

2021-01-28T01:03:58.813Z,1611795838.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:03:59.550Z,1611795839.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:03:59.964Z,1611795839.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:00.805Z,1611795840.805 [Micromodem](INFO): Nmea in: $SNTTA,0.092425,,,,010401.29*47

2021-01-28T01:04:00.839Z,1611795840.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.660004 m, bearing: 35.186054 deg, deltaT: 4.388539 s, approachRate: -0.519535 m/s, LOS rate: -0.152710 deg/s, posRepo size: 4
2021-01-28T01:04:00.841Z,1611795840.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.660004 m,
      bearing: 35.186054 deg,
      approachRate: -0.519535 m/s,
      LOS rate: -0.152710 deg/s,
      cmd update: -0.610841 deg/s,
      cmd heading: 60.242547 deg,
      new cmd heading: 59.957316 deg.

2021-01-28T01:04:03.208Z,1611795843.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:03.996Z,1611795843.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:04.400Z,1611795844.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:05.241Z,1611795845.241 [Micromodem](INFO): Nmea in: $SNTTA,0.090945,,,,010405.73*45

2021-01-28T01:04:05.263Z,1611795845.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.199997 m, bearing: 35.909805 deg, deltaT: 4.470369 s, approachRate: -0.550292 m/s, LOS rate: 0.161900 deg/s, posRepo size: 4
2021-01-28T01:04:05.265Z,1611795845.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.199997 m,
      bearing: 35.909805 deg,
      approachRate: -0.550292 m/s,
      LOS rate: 0.161900 deg/s,
      cmd update: 0.647598 deg/s,
      cmd heading: 57.511747 deg,
      new cmd heading: 57.258048 deg.

2021-01-28T01:04:06.852Z,1611795846.852 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-28T01:04:07.738Z,1611795847.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:08.438Z,1611795848.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:08.856Z,1611795848.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:09.696Z,1611795849.696 [Micromodem](INFO): Nmea in: $SNTTA,0.089268,,,,010410.18*40

2021-01-28T01:04:09.794Z,1611795849.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.680008 m, bearing: 36.470895 deg, deltaT: 4.427719 s, approachRate: -0.569139 m/s, LOS rate: 0.126722 deg/s, posRepo size: 4
2021-01-28T01:04:09.800Z,1611795849.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.680008 m,
      bearing: 36.470895 deg,
      approachRate: -0.569139 m/s,
      LOS rate: 0.126722 deg/s,
      cmd update: 0.506888 deg/s,
      cmd heading: 60.379006 deg,
      new cmd heading: 60.710979 deg.

2021-01-28T01:04:11.754Z,1611795851.754 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T01:04:11.794Z,1611795851.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:12.522Z,1611795852.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:12.930Z,1611795852.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:13.778Z,1611795853.778 [Micromodem](INFO): Nmea in: $SNTTA,0.087773,,,,010414.26*48

2021-01-28T01:04:13.818Z,1611795853.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.460007 m, bearing: 35.819363 deg, deltaT: 4.073605 s, approachRate: -0.544972 m/s, LOS rate: -0.159940 deg/s, posRepo size: 4
2021-01-28T01:04:13.819Z,1611795853.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.460007 m,
      bearing: 35.819363 deg,
      approachRate: -0.544972 m/s,
      LOS rate: -0.159940 deg/s,
      cmd update: -0.639759 deg/s,
      cmd heading: 62.443755 deg,
      new cmd heading: 62.681393 deg.

2021-01-28T01:04:16.198Z,1611795856.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:16.967Z,1611795856.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:17.006Z,1611795857.006 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T01:04:17.364Z,1611795857.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:18.201Z,1611795858.201 [Micromodem](INFO): Nmea in: $SNTTA,0.086220,,,,010418.70*45

2021-01-28T01:04:18.249Z,1611795858.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.180008 m, bearing: 35.741676 deg, deltaT: 4.477157 s, approachRate: -0.509251 m/s, LOS rate: -0.017352 deg/s, posRepo size: 4
2021-01-28T01:04:18.253Z,1611795858.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.180008 m,
      bearing: 35.741676 deg,
      approachRate: -0.509251 m/s,
      LOS rate: -0.017352 deg/s,
      cmd update: -0.069407 deg/s,
      cmd heading: 59.579252 deg,
      new cmd heading: 59.309047 deg.

2021-01-28T01:04:20.648Z,1611795860.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:21.412Z,1611795861.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:21.826Z,1611795861.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:22.673Z,1611795862.673 [Micromodem](INFO): Nmea in: $SNTTA,0.084676,,,,010423.15*4B

2021-01-28T01:04:22.750Z,1611795862.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.019997 m, bearing: 34.433603 deg, deltaT: 4.427172 s, approachRate: -0.487899 m/s, LOS rate: -0.295465 deg/s, posRepo size: 4
2021-01-28T01:04:22.751Z,1611795862.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.019997 m,
      bearing: 34.433603 deg,
      approachRate: -0.487899 m/s,
      LOS rate: -0.295465 deg/s,
      cmd update: -1.181859 deg/s,
      cmd heading: 59.271964 deg,
      new cmd heading: 59.237945 deg.

2021-01-28T01:04:25.081Z,1611795865.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:25.846Z,1611795865.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:26.256Z,1611795866.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:27.097Z,1611795867.097 [Micromodem](INFO): Nmea in: $SNTTA,0.083104,,,,010427.58*43

2021-01-28T01:04:27.106Z,1611795867.106 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-01-28T01:04:27.119Z,1611795867.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.680008 m, bearing: 34.494931 deg, deltaT: 4.515025 s, approachRate: -0.518267 m/s, LOS rate: 0.013583 deg/s, posRepo size: 4
2021-01-28T01:04:27.121Z,1611795867.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.680008 m,
      bearing: 34.494931 deg,
      approachRate: -0.518267 m/s,
      LOS rate: 0.013583 deg/s,
      cmd update: 0.054333 deg/s,
      cmd heading: 53.935883 deg,
      new cmd heading: 53.521293 deg.

2021-01-28T01:04:29.494Z,1611795869.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:30.290Z,1611795870.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:30.726Z,1611795870.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:31.541Z,1611795871.541 [Micromodem](INFO): Nmea in: $SNTTA,0.081574,,,,010432.03*48

2021-01-28T01:04:31.556Z,1611795871.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.160004 m, bearing: 35.173657 deg, deltaT: 4.373077 s, approachRate: -0.576254 m/s, LOS rate: 0.155206 deg/s, posRepo size: 4
2021-01-28T01:04:31.560Z,1611795871.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.160004 m,
      bearing: 35.173657 deg,
      approachRate: -0.576254 m/s,
      LOS rate: 0.155206 deg/s,
      cmd update: 0.620823 deg/s,
      cmd heading: 54.173250 deg,
      new cmd heading: 54.195997 deg.

2021-01-28T01:04:31.919Z,1611795871.919 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T01:04:33.966Z,1611795873.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:34.766Z,1611795874.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:35.140Z,1611795875.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:35.973Z,1611795875.973 [Micromodem](INFO): Nmea in: $SNTTA,0.079982,,,,010436.50*48

2021-01-28T01:04:36.034Z,1611795876.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.760010 m, bearing: 35.775701 deg, deltaT: 4.428137 s, approachRate: -0.541987 m/s, LOS rate: 0.135959 deg/s, posRepo size: 4
2021-01-28T01:04:36.035Z,1611795876.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.760010 m,
      bearing: 35.775701 deg,
      approachRate: -0.541987 m/s,
      LOS rate: 0.135959 deg/s,
      cmd update: 0.543835 deg/s,
      cmd heading: 56.924901 deg,
      new cmd heading: 57.212983 deg.

2021-01-28T01:04:38.403Z,1611795878.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:39.174Z,1611795879.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:39.606Z,1611795879.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:40.425Z,1611795880.425 [Micromodem](INFO): Nmea in: $SNTTA,0.078546,,,,010440.91*41

2021-01-28T01:04:40.447Z,1611795880.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.959999 m, bearing: 35.125600 deg, deltaT: 4.462860 s, approachRate: -0.403331 m/s, LOS rate: -0.145669 deg/s, posRepo size: 4
2021-01-28T01:04:40.449Z,1611795880.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.959999 m,
      bearing: 35.125600 deg,
      approachRate: -0.403331 m/s,
      LOS rate: -0.145669 deg/s,
      cmd update: -0.582676 deg/s,
      cmd heading: 59.352053 deg,
      new cmd heading: 59.577607 deg.

2021-01-28T01:04:42.030Z,1611795882.030 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T01:04:42.874Z,1611795882.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:43.654Z,1611795883.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:44.032Z,1611795884.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:44.855Z,1611795884.855 [Micromodem](INFO): Nmea in: $SNTTA,0.076751,,,,010445.39*4C

2021-01-28T01:04:44.901Z,1611795884.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.900002 m, bearing: 33.784301 deg, deltaT: 4.416485 s, approachRate: -0.692858 m/s, LOS rate: -0.303703 deg/s, posRepo size: 4
2021-01-28T01:04:44.902Z,1611795884.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.900002 m,
      bearing: 33.784301 deg,
      approachRate: -0.692858 m/s,
      LOS rate: -0.303703 deg/s,
      cmd update: -1.214811 deg/s,
      cmd heading: 56.778785 deg,
      new cmd heading: 56.515781 deg.

2021-01-28T01:04:47.283Z,1611795887.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:48.070Z,1611795888.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:48.482Z,1611795888.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:49.313Z,1611795889.313 [Micromodem](INFO): Nmea in: $SNTTA,0.075417,,,,010449.81*41

2021-01-28T01:04:49.333Z,1611795889.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.979996 m, bearing: 34.532268 deg, deltaT: 4.483309 s, approachRate: -0.428256 m/s, LOS rate: 0.166834 deg/s, posRepo size: 4
2021-01-28T01:04:49.335Z,1611795889.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.979996 m,
      bearing: 34.532268 deg,
      approachRate: -0.428256 m/s,
      LOS rate: 0.166834 deg/s,
      cmd update: 0.667335 deg/s,
      cmd heading: 51.332154 deg,
      new cmd heading: 50.845978 deg.

2021-01-28T01:04:51.820Z,1611795891.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:52.513Z,1611795892.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:52.917Z,1611795892.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:53.781Z,1611795893.781 [Micromodem](INFO): Nmea in: $SNTTA,0.073646,,,0.076196,010454.25*52

2021-01-28T01:04:53.836Z,1611795893.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.400002 m, bearing: 35.126714 deg, deltaT: 4.404186 s, approachRate: -0.585805 m/s, LOS rate: 0.134973 deg/s, posRepo size: 4
2021-01-28T01:04:53.838Z,1611795893.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.400002 m,
      bearing: 35.126714 deg,
      approachRate: -0.585805 m/s,
      LOS rate: 0.134973 deg/s,
      cmd update: 0.539891 deg/s,
      cmd heading: 54.271217 deg,
      new cmd heading: 54.590918 deg.

2021-01-28T01:04:56.188Z,1611795896.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:04:56.950Z,1611795896.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:04:57.364Z,1611795897.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:04:58.197Z,1611795898.197 [Micromodem](INFO): Nmea in: $SNTTA,0.072085,,,,010458.69*4F

2021-01-28T01:04:58.212Z,1611795898.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.879997 m, bearing: 34.505023 deg, deltaT: 4.482870 s, approachRate: -0.562141 m/s, LOS rate: -0.138681 deg/s, posRepo size: 4
2021-01-28T01:04:58.214Z,1611795898.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.879997 m,
      bearing: 34.505023 deg,
      approachRate: -0.562141 m/s,
      LOS rate: -0.138681 deg/s,
      cmd update: -0.554726 deg/s,
      cmd heading: 56.691470 deg,
      new cmd heading: 56.903423 deg.

2021-01-28T01:05:00.671Z,1611795900.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:01.402Z,1611795901.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:01.820Z,1611795901.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:01.838Z,1611795901.838 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T01:05:02.661Z,1611795902.661 [Micromodem](INFO): Nmea in: $SNTTA,0.070473,,0.095710,,010503.14*51

2021-01-28T01:05:02.740Z,1611795902.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.540009 m, bearing: 33.580543 deg, deltaT: 4.425865 s, approachRate: -0.528708 m/s, LOS rate: -0.208881 deg/s, posRepo size: 4
2021-01-28T01:05:02.743Z,1611795902.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.540009 m,
      bearing: 33.580543 deg,
      approachRate: -0.528708 m/s,
      LOS rate: -0.208881 deg/s,
      cmd update: -0.835525 deg/s,
      cmd heading: 54.238523 deg,
      new cmd heading: 53.965320 deg.

2021-01-28T01:05:05.078Z,1611795905.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:05.842Z,1611795905.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:06.264Z,1611795906.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:07.101Z,1611795907.101 [Micromodem](INFO): Nmea in: $SNTTA,0.068934,,,,010507.58*4E

2021-01-28T01:05:07.126Z,1611795907.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.200005 m, bearing: 33.280039 deg, deltaT: 4.533520 s, approachRate: -0.516156 m/s, LOS rate: -0.066285 deg/s, posRepo size: 4
2021-01-28T01:05:07.128Z,1611795907.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.200005 m,
      bearing: 33.280039 deg,
      approachRate: -0.516156 m/s,
      LOS rate: -0.066285 deg/s,
      cmd update: -0.265140 deg/s,
      cmd heading: 50.457430 deg,
      new cmd heading: 50.157053 deg.

2021-01-28T01:05:09.522Z,1611795909.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:10.302Z,1611795910.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:10.734Z,1611795910.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:11.560Z,1611795911.560 [Micromodem](INFO): Nmea in: $SNTTA,0.067324,,,,010512.04*47

2021-01-28T01:05:11.631Z,1611795911.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.800011 m, bearing: 34.161324 deg, deltaT: 4.370128 s, approachRate: -0.549182 m/s, LOS rate: 0.201661 deg/s, posRepo size: 4
2021-01-28T01:05:11.637Z,1611795911.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.800011 m,
      bearing: 34.161324 deg,
      approachRate: -0.549182 m/s,
      LOS rate: 0.201661 deg/s,
      cmd update: 0.806645 deg/s,
      cmd heading: 49.296835 deg,
      new cmd heading: 49.167767 deg.

2021-01-28T01:05:13.983Z,1611795913.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:14.766Z,1611795914.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:15.161Z,1611795915.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:15.977Z,1611795915.977 [Micromodem](INFO): Nmea in: $SNTTA,0.065712,,,,010516.50*41

2021-01-28T01:05:16.055Z,1611795916.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.339996 m, bearing: 33.591478 deg, deltaT: 4.485507 s, approachRate: -0.548436 m/s, LOS rate: -0.127042 deg/s, posRepo size: 4
2021-01-28T01:05:16.061Z,1611795916.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.339996 m,
      bearing: 33.591478 deg,
      approachRate: -0.548436 m/s,
      LOS rate: -0.127042 deg/s,
      cmd update: -0.508167 deg/s,
      cmd heading: 52.915775 deg,
      new cmd heading: 53.258231 deg.

2021-01-28T01:05:18.405Z,1611795918.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:19.183Z,1611795919.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:19.621Z,1611795919.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:20.429Z,1611795920.429 [Micromodem](INFO): Nmea in: $SNTTA,0.064211,,,,010520.92*4D

2021-01-28T01:05:20.468Z,1611795920.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 31.542445 deg, deltaT: 4.417034 s, approachRate: -0.502598 m/s, LOS rate: -0.463893 deg/s, posRepo size: 4
2021-01-28T01:05:20.470Z,1611795920.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.120003 m,
      bearing: 31.542445 deg,
      approachRate: -0.502598 m/s,
      LOS rate: -0.463893 deg/s,
      cmd update: -1.855574 deg/s,
      cmd heading: 50.671199 deg,
      new cmd heading: 50.457605 deg.

2021-01-28T01:05:22.910Z,1611795922.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:23.655Z,1611795923.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:24.048Z,1611795924.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:24.862Z,1611795924.862 [Micromodem](INFO): Nmea in: $SNTTA,0.062707,,,,010525.39*4D

2021-01-28T01:05:24.912Z,1611795924.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 31.371441 deg, deltaT: 4.426109 s, approachRate: -0.515127 m/s, LOS rate: -0.038635 deg/s, posRepo size: 4
2021-01-28T01:05:24.914Z,1611795924.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.839996 m,
      bearing: 31.371441 deg,
      approachRate: -0.515127 m/s,
      LOS rate: -0.038635 deg/s,
      cmd update: -0.154541 deg/s,
      cmd heading: 42.450888 deg,
      new cmd heading: 41.644947 deg.

2021-01-28T01:05:27.307Z,1611795927.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:28.074Z,1611795928.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:28.489Z,1611795928.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:29.329Z,1611795929.329 [Micromodem](INFO): Nmea in: $SNTTA,0.061282,,,,010529.81*49

2021-01-28T01:05:29.351Z,1611795929.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.680008 m, bearing: 31.362077 deg, deltaT: 4.477595 s, approachRate: -0.482399 m/s, LOS rate: -0.002091 deg/s, posRepo size: 4
2021-01-28T01:05:29.353Z,1611795929.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.680008 m,
      bearing: 31.362077 deg,
      approachRate: -0.482399 m/s,
      LOS rate: -0.002091 deg/s,
      cmd update: -0.008365 deg/s,
      cmd heading: 41.758907 deg,
      new cmd heading: 41.697718 deg.

2021-01-28T01:05:31.800Z,1611795931.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:32.522Z,1611795932.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:32.946Z,1611795932.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:33.777Z,1611795933.777 [Micromodem](INFO): Nmea in: $SNTTA,0.059584,,,,010534.26*42

2021-01-28T01:05:33.812Z,1611795933.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.459999 m, bearing: 35.149007 deg, deltaT: 4.389437 s, approachRate: -0.505762 m/s, LOS rate: 0.862737 deg/s, posRepo size: 4
2021-01-28T01:05:33.814Z,1611795933.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.459999 m,
      bearing: 35.149007 deg,
      approachRate: -0.505762 m/s,
      LOS rate: 0.862737 deg/s,
      cmd update: 3.450948 deg/s,
      cmd heading: 41.722188 deg,
      new cmd heading: 41.718278 deg.

2021-01-28T01:05:35.790Z,1611795935.790 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-01-28T01:05:36.190Z,1611795936.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:36.966Z,1611795936.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:37.408Z,1611795937.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:38.237Z,1611795938.237 [Micromodem](INFO): Nmea in: $SNTTA,0.058121,,,,010538.70*47

2021-01-28T01:05:38.259Z,1611795938.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.239998 m, bearing: 34.827008 deg, deltaT: 4.495364 s, approachRate: -0.493842 m/s, LOS rate: -0.071629 deg/s, posRepo size: 4
2021-01-28T01:05:38.261Z,1611795938.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.239998 m,
      bearing: 34.827008 deg,
      approachRate: -0.493842 m/s,
      LOS rate: -0.071629 deg/s,
      cmd update: -0.286517 deg/s,
      cmd heading: 57.235322 deg,
      new cmd heading: 58.681766 deg.

2021-01-28T01:05:40.713Z,1611795940.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:41.442Z,1611795941.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:41.848Z,1611795941.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:42.692Z,1611795942.692 [Micromodem](INFO): Nmea in: $SNTTA,0.056653,,,,010543.18*49

2021-01-28T01:05:42.766Z,1611795942.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 30.364784 deg, deltaT: 4.433390 s, approachRate: -0.554880 m/s, LOS rate: -1.006504 deg/s, posRepo size: 4
2021-01-28T01:05:42.772Z,1611795942.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.779999 m,
      bearing: 30.364784 deg,
      approachRate: -0.554880 m/s,
      LOS rate: -1.006504 deg/s,
      cmd update: -4.026015 deg/s,
      cmd heading: 55.965073 deg,
      new cmd heading: 55.823912 deg.

2021-01-28T01:05:45.124Z,1611795945.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:45.886Z,1611795945.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:46.296Z,1611795946.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:47.125Z,1611795947.125 [Micromodem](INFO): Nmea in: $SNTTA,0.055245,,,,010547.62*40

2021-01-28T01:05:47.165Z,1611795947.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.980003 m, bearing: 32.495527 deg, deltaT: 4.488465 s, approachRate: -0.401027 m/s, LOS rate: 0.474715 deg/s, posRepo size: 4
2021-01-28T01:05:47.167Z,1611795947.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.980003 m,
      bearing: 32.495527 deg,
      approachRate: -0.401027 m/s,
      LOS rate: 0.474715 deg/s,
      cmd update: 1.898861 deg/s,
      cmd heading: 37.925134 deg,
      new cmd heading: 36.274392 deg.

2021-01-28T01:05:47.936Z,1611795947.936 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T01:05:49.542Z,1611795949.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:50.334Z,1611795950.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:50.768Z,1611795950.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:51.584Z,1611795951.584 [Micromodem](INFO): Nmea in: $SNTTA,0.053785,,,,010552.07*48

2021-01-28T01:05:51.654Z,1611795951.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 31.984410 deg, deltaT: 4.386689 s, approachRate: -0.588145 m/s, LOS rate: -0.116515 deg/s, posRepo size: 4
2021-01-28T01:05:51.660Z,1611795951.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.399994 m,
      bearing: 31.984410 deg,
      approachRate: -0.588145 m/s,
      LOS rate: -0.116515 deg/s,
      cmd update: -0.466061 deg/s,
      cmd heading: 46.269327 deg,
      new cmd heading: 47.228509 deg.

2021-01-28T01:05:53.656Z,1611795953.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:54.370Z,1611795954.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:54.784Z,1611795954.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:05:55.621Z,1611795955.621 [Micromodem](INFO): Nmea in: $SNTTA,0.052302,,,,010556.11*41

2021-01-28T01:05:55.646Z,1611795955.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.240005 m, bearing: 33.446620 deg, deltaT: 4.064526 s, approachRate: -0.531424 m/s, LOS rate: 0.359749 deg/s, posRepo size: 4
2021-01-28T01:05:55.648Z,1611795955.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.240005 m,
      bearing: 33.446620 deg,
      approachRate: -0.531424 m/s,
      LOS rate: 0.359749 deg/s,
      cmd update: 1.438997 deg/s,
      cmd heading: 44.384425 deg,
      new cmd heading: 44.173387 deg.

2021-01-28T01:05:58.058Z,1611795958.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:05:58.814Z,1611795958.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:05:59.224Z,1611795959.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:00.073Z,1611795960.073 [Micromodem](INFO): Nmea in: $SNTTA,0.050874,,,,010600.55*49

2021-01-28T01:06:00.098Z,1611795960.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.080002 m, bearing: 31.734466 deg, deltaT: 4.519441 s, approachRate: -0.477936 m/s, LOS rate: -0.378842 deg/s, posRepo size: 4
2021-01-28T01:06:00.099Z,1611795960.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.080002 m,
      bearing: 31.734466 deg,
      approachRate: -0.477936 m/s,
      LOS rate: -0.378842 deg/s,
      cmd update: -1.515368 deg/s,
      cmd heading: 50.911115 deg,
      new cmd heading: 51.442344 deg.

2021-01-28T01:06:02.466Z,1611795962.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:03.262Z,1611795963.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:03.675Z,1611795963.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:04.497Z,1611795964.497 [Micromodem](INFO): Nmea in: $SNTTA,0.049629,,,,010605.00*42

2021-01-28T01:06:04.519Z,1611795964.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.220001 m, bearing: 30.536809 deg, deltaT: 4.386952 s, approachRate: -0.423985 m/s, LOS rate: -0.273004 deg/s, posRepo size: 4
2021-01-28T01:06:04.521Z,1611795964.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.220001 m,
      bearing: 30.536809 deg,
      approachRate: -0.423985 m/s,
      LOS rate: -0.273004 deg/s,
      cmd update: -1.092017 deg/s,
      cmd heading: 44.257153 deg,
      new cmd heading: 43.651195 deg.

2021-01-28T01:06:06.942Z,1611795966.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:07.721Z,1611795967.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:08.104Z,1611795968.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:08.945Z,1611795968.945 [Micromodem](INFO): Nmea in: $SNTTA,0.047807,,0.083401,,010609.46*50

2021-01-28T01:06:09.010Z,1611795969.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 31.718750 deg, deltaT: 4.433890 s, approachRate: -0.608947 m/s, LOS rate: 0.266570 deg/s, posRepo size: 4
2021-01-28T01:06:09.023Z,1611795969.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.519997 m,
      bearing: 31.718750 deg,
      approachRate: -0.608947 m/s,
      LOS rate: 0.266570 deg/s,
      cmd update: 1.066278 deg/s,
      cmd heading: 39.433497 deg,
      new cmd heading: 38.918175 deg.

2021-01-28T01:06:11.350Z,1611795971.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:12.150Z,1611795972.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:12.552Z,1611795972.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:13.381Z,1611795973.381 [Micromodem](INFO): Nmea in: $SNTTA,0.046231,,0.052825,,010613.89*50

2021-01-28T01:06:13.403Z,1611795973.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.180008 m, bearing: 33.476854 deg, deltaT: 4.454041 s, approachRate: -0.525363 m/s, LOS rate: 0.394721 deg/s, posRepo size: 4
2021-01-28T01:06:13.405Z,1611795973.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.180008 m,
      bearing: 33.476854 deg,
      approachRate: -0.525363 m/s,
      LOS rate: 0.394721 deg/s,
      cmd update: 1.578885 deg/s,
      cmd heading: 44.181603 deg,
      new cmd heading: 44.622720 deg.

2021-01-28T01:06:15.822Z,1611795975.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:16.601Z,1611795976.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:17.020Z,1611795977.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:17.841Z,1611795977.841 [Micromodem](INFO): Nmea in: $SNTTA,0.044678,,,,010618.34*40

2021-01-28T01:06:17.875Z,1611795977.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.779999 m, bearing: 32.817874 deg, deltaT: 4.405981 s, approachRate: -0.544716 m/s, LOS rate: -0.149565 deg/s, posRepo size: 4
2021-01-28T01:06:17.877Z,1611795977.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.779999 m,
      bearing: 32.817874 deg,
      approachRate: -0.544716 m/s,
      LOS rate: -0.149565 deg/s,
      cmd update: -0.598260 deg/s,
      cmd heading: 51.166048 deg,
      new cmd heading: 51.895565 deg.

2021-01-28T01:06:20.245Z,1611795980.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:21.046Z,1611795981.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:21.440Z,1611795981.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:22.266Z,1611795982.266 [Micromodem](INFO): Nmea in: $SNTTA,0.043087,,,,010622.78*40

2021-01-28T01:06:22.290Z,1611795982.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.440002 m, bearing: 30.361953 deg, deltaT: 4.493688 s, approachRate: -0.520730 m/s, LOS rate: -0.546527 deg/s, posRepo size: 4
2021-01-28T01:06:22.303Z,1611795982.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.440002 m,
      bearing: 30.361953 deg,
      approachRate: -0.520730 m/s,
      LOS rate: -0.546527 deg/s,
      cmd update: -2.186107 deg/s,
      cmd heading: 48.477600 deg,
      new cmd heading: 48.249289 deg.

2021-01-28T01:06:24.739Z,1611795984.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:25.492Z,1611795985.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:25.888Z,1611795985.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:26.742Z,1611795986.742 [Micromodem](INFO): Nmea in: $SNTTA,0.041480,,,,010627.23*4A

2021-01-28T01:06:26.788Z,1611795986.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.980007 m, bearing: 29.997740 deg, deltaT: 4.400442 s, approachRate: -0.559034 m/s, LOS rate: -0.082767 deg/s, posRepo size: 4
2021-01-28T01:06:26.828Z,1611795986.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.980007 m,
      bearing: 29.997740 deg,
      approachRate: -0.559034 m/s,
      LOS rate: -0.082767 deg/s,
      cmd update: -0.331069 deg/s,
      cmd heading: 38.857839 deg,
      new cmd heading: 37.808038 deg.

2021-01-28T01:06:28.816Z,1611795988.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:29.166Z,1611795989.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:29.552Z,1611795989.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:30.373Z,1611795990.373 [Micromodem](INFO): Nmea in: $SNTTA,0.040261,,,,010630.90*4C

2021-01-28T01:06:30.388Z,1611795990.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 33.504305 deg, deltaT: 3.686488 s, approachRate: -0.488272 m/s, LOS rate: 0.951194 deg/s, posRepo size: 4
2021-01-28T01:06:30.390Z,1611795990.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.179996 m,
      bearing: 33.504305 deg,
      approachRate: -0.488272 m/s,
      LOS rate: 0.951194 deg/s,
      cmd update: 3.804775 deg/s,
      cmd heading: 37.642743 deg,
      new cmd heading: 37.506860 deg.

2021-01-28T01:06:32.809Z,1611795992.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:33.609Z,1611795993.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:33.994Z,1611795993.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:34.815Z,1611795994.815 [Micromodem](INFO): Nmea in: $SNTTA,0.038739,,,,010635.34*40

2021-01-28T01:06:34.865Z,1611795994.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.380001 m, bearing: 35.194530 deg, deltaT: 4.423179 s, approachRate: -0.406946 m/s, LOS rate: 0.382129 deg/s, posRepo size: 4
2021-01-28T01:06:34.867Z,1611795994.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.380001 m,
      bearing: 35.194530 deg,
      approachRate: -0.406946 m/s,
      LOS rate: 0.382129 deg/s,
      cmd update: 1.528517 deg/s,
      cmd heading: 54.533910 deg,
      new cmd heading: 56.236794 deg.

2021-01-28T01:06:37.238Z,1611795997.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:38.030Z,1611795998.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:38.428Z,1611795998.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:39.293Z,1611795999.293 [Micromodem](INFO): Nmea in: $SNTTA,0.037226,,0.056122,,010639.77*53

2021-01-28T01:06:39.335Z,1611795999.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.619995 m, bearing: 31.160187 deg, deltaT: 4.458647 s, approachRate: -0.619023 m/s, LOS rate: -0.904836 deg/s, posRepo size: 4
2021-01-28T01:06:39.337Z,1611795999.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.619995 m,
      bearing: 31.160187 deg,
      approachRate: -0.619023 m/s,
      LOS rate: -0.904836 deg/s,
      cmd update: -3.619343 deg/s,
      cmd heading: 61.348909 deg,
      new cmd heading: 62.050735 deg.

2021-01-28T01:06:41.737Z,1611796001.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:42.478Z,1611796002.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:42.884Z,1611796002.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:43.733Z,1611796003.733 [Micromodem](INFO): Nmea in: $SNTTA,0.035707,,0.082513,,010644.22*52

2021-01-28T01:06:43.783Z,1611796003.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.339996 m, bearing: 27.703198 deg, deltaT: 4.431332 s, approachRate: -0.514518 m/s, LOS rate: -0.780124 deg/s, posRepo size: 4
2021-01-28T01:06:43.785Z,1611796003.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.339996 m,
      bearing: 27.703198 deg,
      approachRate: -0.514518 m/s,
      LOS rate: -0.780124 deg/s,
      cmd update: -3.120497 deg/s,
      cmd heading: 45.309999 deg,
      new cmd heading: 43.588639 deg.

2021-01-28T01:06:46.122Z,1611796006.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:46.922Z,1611796006.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:47.331Z,1611796007.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:48.162Z,1611796008.162 [Micromodem](INFO): Nmea in: $SNTTA,0.034340,,,,010648.66*4B

2021-01-28T01:06:48.183Z,1611796008.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 27.904902 deg, deltaT: 4.477168 s, approachRate: -0.455645 m/s, LOS rate: 0.045052 deg/s, posRepo size: 4
2021-01-28T01:06:48.185Z,1611796008.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 27.904902 deg,
      approachRate: -0.455645 m/s,
      LOS rate: 0.045052 deg/s,
      cmd update: 0.180207 deg/s,
      cmd heading: 31.338930 deg,
      new cmd heading: 30.093951 deg.

2021-01-28T01:06:50.622Z,1611796010.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:51.354Z,1611796011.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:51.776Z,1611796011.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:52.613Z,1611796012.613 [Micromodem](INFO): Nmea in: $SNTTA,0.032834,,,,010653.09*46

2021-01-28T01:06:52.663Z,1611796012.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 34.068871 deg, deltaT: 4.416970 s, approachRate: -0.502606 m/s, LOS rate: 1.395520 deg/s, posRepo size: 4
2021-01-28T01:06:52.676Z,1611796012.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 34.068871 deg,
      approachRate: -0.502606 m/s,
      LOS rate: 1.395520 deg/s,
      cmd update: 5.582079 deg/s,
      cmd heading: 32.134172 deg,
      new cmd heading: 32.218154 deg.

2021-01-28T01:06:55.042Z,1611796015.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:06:55.808Z,1611796015.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:06:56.215Z,1611796016.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:06:57.057Z,1611796017.057 [Micromodem](INFO): Nmea in: $SNTTA,0.031398,,,,010657.54*44

2021-01-28T01:06:57.082Z,1611796017.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.979996 m, bearing: 34.399548 deg, deltaT: 4.453440 s, approachRate: -0.471546 m/s, LOS rate: 0.074252 deg/s, posRepo size: 4
2021-01-28T01:06:57.084Z,1611796017.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.979996 m,
      bearing: 34.399548 deg,
      approachRate: -0.471546 m/s,
      LOS rate: 0.074252 deg/s,
      cmd update: 0.297008 deg/s,
      cmd heading: 56.993649 deg,
      new cmd heading: 59.400452 deg.

2021-01-28T01:06:59.466Z,1611796019.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:00.246Z,1611796020.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:00.672Z,1611796020.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:01.498Z,1611796021.498 [Micromodem](INFO): Nmea in: $SNTTA,0.030295,,,0.060840,010701.98*5F

2021-01-28T01:07:01.535Z,1611796021.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.240002 m, bearing: 33.044776 deg, deltaT: 4.447961 s, approachRate: -0.391189 m/s, LOS rate: -0.304583 deg/s, posRepo size: 4
2021-01-28T01:07:01.541Z,1611796021.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.240002 m,
      bearing: 33.044776 deg,
      approachRate: -0.391189 m/s,
      LOS rate: -0.304583 deg/s,
      cmd update: -1.218330 deg/s,
      cmd heading: 58.315915 deg,
      new cmd heading: 58.444362 deg.

2021-01-28T01:07:03.096Z,1611796023.096 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T01:07:03.929Z,1611796023.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:04.717Z,1611796024.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:05.096Z,1611796025.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:05.923Z,1611796025.923 [Micromodem](INFO): Nmea in: $SNTTA,0.028864,0.059989,,,010706.45*5B

2021-01-28T01:07:05.979Z,1611796025.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.080002 m, bearing: 28.909199 deg, deltaT: 4.409958 s, approachRate: -0.489801 m/s, LOS rate: -0.937782 deg/s, posRepo size: 4
2021-01-28T01:07:05.986Z,1611796025.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.080002 m,
      bearing: 28.909199 deg,
      approachRate: -0.489801 m/s,
      LOS rate: -0.937782 deg/s,
      cmd update: -3.751126 deg/s,
      cmd heading: 52.943107 deg,
      new cmd heading: 52.374666 deg.

2021-01-28T01:07:08.342Z,1611796028.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:09.140Z,1611796029.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:09.552Z,1611796029.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:10.401Z,1611796030.401 [Micromodem](INFO): Nmea in: $SNTTA,0.027029,,,,010710.88*49

2021-01-28T01:07:10.423Z,1611796030.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 28.464542 deg, deltaT: 4.518277 s, approachRate: -0.610854 m/s, LOS rate: -0.098413 deg/s, posRepo size: 4
2021-01-28T01:07:10.425Z,1611796030.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.319996 m,
      bearing: 28.464542 deg,
      approachRate: -0.610854 m/s,
      LOS rate: -0.098413 deg/s,
      cmd update: -0.393652 deg/s,
      cmd heading: 36.010707 deg,
      new cmd heading: 34.522478 deg.

2021-01-28T01:07:12.824Z,1611796032.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:13.605Z,1611796033.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:13.984Z,1611796033.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:14.807Z,1611796034.807 [Micromodem](INFO): Nmea in: $SNTTA,0.025655,,,,010715.34*44

2021-01-28T01:07:14.851Z,1611796034.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.279999 m, bearing: 30.560172 deg, deltaT: 4.394382 s, approachRate: -0.464228 m/s, LOS rate: 0.476888 deg/s, posRepo size: 4
2021-01-28T01:07:14.852Z,1611796034.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.28 m.
2021-01-28T01:07:14.854Z,1611796034.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.279999 m,
      bearing: 30.560172 deg,
      approachRate: -0.464228 m/s,
      LOS rate: 0.476888 deg/s,
      cmd update: 1.907554 deg/s,
      cmd heading: 34.285468 deg,
      new cmd heading: 34.111413 deg.

2021-01-28T01:07:15.238Z,1611796035.238 [PowerOnly](INFO): Powering up loadControl
2021-01-28T01:07:17.258Z,1611796037.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:18.050Z,1611796038.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:18.462Z,1611796038.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:18.820Z,1611796038.820 [DDM](ERROR): Could not parse whisker state
2021-01-28T01:07:19.273Z,1611796039.273 [Micromodem](INFO): Nmea in: $SNTTA,0.024070,,,,010719.79*41

2021-01-28T01:07:19.310Z,1611796039.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 33.534074 deg, deltaT: 4.478789 s, approachRate: -0.535859 m/s, LOS rate: 0.663997 deg/s, posRepo size: 4
2021-01-28T01:07:19.311Z,1611796039.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.88 m.
2021-01-28T01:07:19.313Z,1611796039.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.880001 m,
      bearing: 33.534074 deg,
      approachRate: -0.535859 m/s,
      LOS rate: 0.663997 deg/s,
      cmd update: 2.655988 deg/s,
      cmd heading: 42.859354 deg,
      new cmd heading: 43.634562 deg.

2021-01-28T01:07:21.745Z,1611796041.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:22.470Z,1611796042.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:22.884Z,1611796042.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:23.729Z,1611796043.729 [Micromodem](INFO): Nmea in: $SNTTA,0.022541,,,,010724.21*43

2021-01-28T01:07:23.816Z,1611796043.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 34.697897 deg, deltaT: 4.401900 s, approachRate: -0.504328 m/s, LOS rate: 0.264391 deg/s, posRepo size: 4
2021-01-28T01:07:23.817Z,1611796043.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.66 m.
2021-01-28T01:07:23.819Z,1611796043.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.660000 m,
      bearing: 34.697897 deg,
      approachRate: -0.504328 m/s,
      LOS rate: 0.264391 deg/s,
      cmd update: 1.057565 deg/s,
      cmd heading: 54.550708 deg,
      new cmd heading: 55.895450 deg.

2021-01-28T01:07:26.138Z,1611796046.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:26.920Z,1611796046.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:27.321Z,1611796047.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:28.153Z,1611796048.153 [Micromodem](INFO): Nmea in: $SNTTA,0.020950,,,,010728.66*42

2021-01-28T01:07:28.175Z,1611796048.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 33.669096 deg, deltaT: 4.467515 s, approachRate: -0.550641 m/s, LOS rate: -0.230285 deg/s, posRepo size: 4
2021-01-28T01:07:28.176Z,1611796048.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.20 m.
2021-01-28T01:07:28.178Z,1611796048.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.200001 m,
      bearing: 33.669096 deg,
      approachRate: -0.550641 m/s,
      LOS rate: -0.230285 deg/s,
      cmd update: -0.921139 deg/s,
      cmd heading: 59.275231 deg,
      new cmd heading: 59.700314 deg.

2021-01-28T01:07:30.618Z,1611796050.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:30.971Z,1611796050.971 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-28T01:07:31.359Z,1611796051.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:31.775Z,1611796051.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:32.596Z,1611796052.596 [Micromodem](INFO): Nmea in: $SNTTA,0.019647,,,,010733.10*4A

2021-01-28T01:07:32.662Z,1611796052.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 31.997794 deg, deltaT: 4.404402 s, approachRate: -0.449551 m/s, LOS rate: -0.379462 deg/s, posRepo size: 4
2021-01-28T01:07:32.662Z,1611796052.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m.
2021-01-28T01:07:32.665Z,1611796052.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 31.997794 deg,
      approachRate: -0.449551 m/s,
      LOS rate: -0.379462 deg/s,
      cmd update: -1.517848 deg/s,
      cmd heading: 55.218029 deg,
      new cmd heading: 54.771983 deg.

2021-01-28T01:07:35.037Z,1611796055.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:35.798Z,1611796055.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:36.213Z,1611796056.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:37.057Z,1611796057.057 [Micromodem](INFO): Nmea in: $SNTTA,0.018293,,,0.020755,010737.54*59

2021-01-28T01:07:37.082Z,1611796057.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 31.536127 deg, deltaT: 4.477359 s, approachRate: -0.442225 m/s, LOS rate: -0.103111 deg/s, posRepo size: 4
2021-01-28T01:07:37.083Z,1611796057.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.24 m.
2021-01-28T01:07:37.085Z,1611796057.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.239998 m,
      bearing: 31.536127 deg,
      approachRate: -0.442225 m/s,
      LOS rate: -0.103111 deg/s,
      cmd update: -0.412445 deg/s,
      cmd heading: 48.422069 deg,
      new cmd heading: 47.773624 deg.

2021-01-28T01:07:39.472Z,1611796059.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:40.246Z,1611796060.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:40.675Z,1611796060.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:41.501Z,1611796061.501 [Micromodem](INFO): Nmea in: $SNTTA,0.016953,,,,010741.98*4A

2021-01-28T01:07:41.523Z,1611796061.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 31.042657 deg, deltaT: 4.440529 s, approachRate: -0.445893 m/s, LOS rate: -0.111129 deg/s, posRepo size: 4
2021-01-28T01:07:41.524Z,1611796061.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.26 m.
2021-01-28T01:07:41.526Z,1611796061.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 31.042657 deg,
      approachRate: -0.445893 m/s,
      LOS rate: -0.111129 deg/s,
      cmd update: -0.444515 deg/s,
      cmd heading: 46.590594 deg,
      new cmd heading: 46.414299 deg.

2021-01-28T01:07:43.954Z,1611796063.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:44.693Z,1611796064.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:45.088Z,1611796065.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:45.925Z,1611796065.925 [Micromodem](INFO): Nmea in: $SNTTA,0.015587,,,,010746.43*4D

2021-01-28T01:07:45.990Z,1611796065.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.219997 m, bearing: 28.148919 deg, deltaT: 4.439837 s, approachRate: -0.459476 m/s, LOS rate: -0.651767 deg/s, posRepo size: 4
2021-01-28T01:07:45.991Z,1611796065.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.22 m.
2021-01-28T01:07:45.995Z,1611796065.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 23.22 m.
2021-01-28T01:07:45.995Z,1611796065.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-28T01:07:46.006Z,1611796066.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 28.148919 deg,
      approachRate: -0.459476 m/s,
      LOS rate: -0.651767 deg/s,
      cmd update: -2.607067 deg/s,
      cmd heading: 44.619663 deg,
      new cmd heading: 44.415069 deg.

2021-01-28T01:07:48.354Z,1611796068.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:49.130Z,1611796069.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:49.544Z,1611796069.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:50.385Z,1611796070.385 [Micromodem](INFO): Nmea in: $SNTTA,0.014109,,,,010750.87*41

2021-01-28T01:07:50.407Z,1611796070.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 28.476058 deg, deltaT: 4.454235 s, approachRate: -0.511873 m/s, LOS rate: 0.073444 deg/s, posRepo size: 4
2021-01-28T01:07:50.409Z,1611796070.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.939997 m,
      bearing: 28.476058 deg,
      approachRate: -0.511873 m/s,
      LOS rate: 0.073444 deg/s,
      cmd update: 0.293778 deg/s,
      cmd heading: 32.998599 deg,
      new cmd heading: 31.903323 deg.

2021-01-28T01:07:52.817Z,1611796072.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:53.583Z,1611796073.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:53.990Z,1611796073.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:54.809Z,1611796074.809 [Micromodem](INFO): Nmea in: $SNTTA,0.012648,,0.041704,,010755.32*56

2021-01-28T01:07:54.868Z,1611796074.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 33.039380 deg, deltaT: 4.415677 s, approachRate: -0.489166 m/s, LOS rate: 1.033437 deg/s, posRepo size: 4
2021-01-28T01:07:54.870Z,1611796074.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.779997 m,
      bearing: 33.039380 deg,
      approachRate: -0.489166 m/s,
      LOS rate: 1.033437 deg/s,
      cmd update: 4.133747 deg/s,
      cmd heading: 34.296651 deg,
      new cmd heading: 34.432364 deg.

2021-01-28T01:07:57.226Z,1611796077.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:07:58.032Z,1611796078.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:07:58.424Z,1611796078.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:07:59.257Z,1611796079.257 [Micromodem](INFO): Nmea in: $SNTTA,0.011041,,,0.014848,010759.77*50

2021-01-28T01:07:59.294Z,1611796079.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.380001 m, bearing: 32.833037 deg, deltaT: 4.486759 s, approachRate: -0.534906 m/s, LOS rate: -0.045989 deg/s, posRepo size: 4
2021-01-28T01:07:59.295Z,1611796079.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 32.833037 deg,
      approachRate: -0.534906 m/s,
      LOS rate: -0.045989 deg/s,
      cmd update: -0.183958 deg/s,
      cmd heading: 52.826259 deg,
      new cmd heading: 54.502146 deg.

2021-01-28T01:08:01.740Z,1611796081.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:02.462Z,1611796082.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:02.877Z,1611796082.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:03.729Z,1611796083.729 [Micromodem](INFO): Nmea in: $SNTTA,0.009605,,,,010804.20*45

2021-01-28T01:08:03.800Z,1611796083.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 30.170663 deg, deltaT: 4.412930 s, approachRate: -0.503068 m/s, LOS rate: -0.603312 deg/s, posRepo size: 4
2021-01-28T01:08:03.802Z,1611796083.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 30.170663 deg,
      approachRate: -0.503068 m/s,
      LOS rate: -0.603312 deg/s,
      cmd update: -2.413248 deg/s,
      cmd heading: 52.017421 deg,
      new cmd heading: 51.923380 deg.

2021-01-28T01:08:06.170Z,1611796086.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:06.950Z,1611796086.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:07.336Z,1611796087.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:08.166Z,1611796088.166 [Micromodem](INFO): Nmea in: $SNTTA,0.008210,,0.032254,,010808.69*59

2021-01-28T01:08:08.203Z,1611796088.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 24.565805 deg, deltaT: 4.508060 s, approachRate: -0.465833 m/s, LOS rate: -1.243297 deg/s, posRepo size: 4
2021-01-28T01:08:08.209Z,1611796088.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 24.565805 deg,
      approachRate: -0.465833 m/s,
      LOS rate: -1.243297 deg/s,
      cmd update: -4.973189 deg/s,
      cmd heading: 41.089310 deg,
      new cmd heading: 40.148517 deg.

2021-01-28T01:08:10.641Z,1611796090.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:11.370Z,1611796091.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:11.776Z,1611796091.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:12.629Z,1611796092.629 [Micromodem](INFO): Nmea in: $SNTTA,0.006846,,,,010813.11*47

2021-01-28T01:08:12.665Z,1611796092.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 25.151171 deg, deltaT: 4.379997 s, approachRate: -0.452054 m/s, LOS rate: 0.133645 deg/s, posRepo size: 4
2021-01-28T01:08:12.671Z,1611796092.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 25.151171 deg,
      approachRate: -0.452054 m/s,
      LOS rate: 0.133645 deg/s,
      cmd update: 0.534581 deg/s,
      cmd heading: 19.306882 deg,
      new cmd heading: 16.962163 deg.

2021-01-28T01:08:14.709Z,1611796094.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:15.422Z,1611796095.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:15.816Z,1611796095.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:16.688Z,1611796096.688 [Micromodem](INFO): Nmea in: $SNTTA,0.005617,,,,010817.16*4D

2021-01-28T01:08:16.779Z,1611796096.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 25.160008 deg, deltaT: 4.040266 s, approachRate: -0.460366 m/s, LOS rate: 0.002187 deg/s, posRepo size: 4
2021-01-28T01:08:16.787Z,1611796096.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 25.160008 deg,
      approachRate: -0.460366 m/s,
      LOS rate: 0.002187 deg/s,
      cmd update: 0.008748 deg/s,
      cmd heading: 21.466742 deg,
      new cmd heading: 21.757867 deg.

2021-01-28T01:08:18.745Z,1611796098.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:19.450Z,1611796099.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:19.856Z,1611796099.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:20.717Z,1611796100.717 [Micromodem](INFO): Nmea in: $SNTTA,0.004349,,,,010821.19*48

2021-01-28T01:08:20.773Z,1611796100.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 32.456226 deg, deltaT: 4.039901 s, approachRate: -0.475259 m/s, LOS rate: 1.806039 deg/s, posRepo size: 4
2021-01-28T01:08:20.774Z,1611796100.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 32.456226 deg,
      approachRate: -0.475259 m/s,
      LOS rate: 1.806039 deg/s,
      cmd update: 7.224155 deg/s,
      cmd heading: 21.502083 deg,
      new cmd heading: 21.506450 deg.

2021-01-28T01:08:23.128Z,1611796103.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:23.902Z,1611796103.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:24.305Z,1611796104.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:25.141Z,1611796105.141 [Micromodem](INFO): Nmea in: $SNTTA,0.003268,,,,010825.64*43

2021-01-28T01:08:25.161Z,1611796105.161 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-28T01:08:25.161Z,1611796105.161 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-28T01:08:25.161Z,1611796105.161 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-28T01:08:25.162Z,1611796105.162 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T01:08:25.162Z,1611796105.162 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-28T01:08:25.162Z,1611796105.162 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-01-28T01:08:25.162Z,1611796105.162 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-28T01:08:25.162Z,1611796105.162 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-28T01:08:25.162Z,1611796105.162 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-28T01:08:25.165Z,1611796105.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 48.679650 deg, deltaT: 4.491029 s, approachRate: -0.360719 m/s, LOS rate: 3.612407 deg/s, posRepo size: 4
2021-01-28T01:08:25.167Z,1611796105.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 48.679650 deg,
      approachRate: -0.360719 m/s,
      LOS rate: 3.612407 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 53.946906 deg,
      new cmd heading: 56.837941 deg.

2021-01-28T01:08:25.550Z,1611796105.550 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210128T010825: (41.551998, -70.709610)
2021-01-28T01:08:25.550Z,1611796105.550 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-28T01:08:25.550Z,1611796105.550 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-28T01:08:25.551Z,1611796105.551 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T01:08:25.551Z,1611796105.551 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-28T01:08:25.551Z,1611796105.551 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-28T01:08:25.551Z,1611796105.551 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-28T01:08:25.551Z,1611796105.551 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-28T01:08:25.551Z,1611796105.551 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-28T01:08:27.575Z,1611796107.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:28.343Z,1611796108.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:28.767Z,1611796108.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:29.599Z,1611796109.599 [Micromodem](INFO): Nmea in: $SNTTA,0.002457,,,,010830.08*46

2021-01-28T01:08:29.662Z,1611796109.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.599999 m, bearing: 27.749645 deg, deltaT: 4.396554 s, approachRate: -0.245647 m/s, LOS rate: -4.760548 deg/s, posRepo size: 4
2021-01-28T01:08:29.668Z,1611796109.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.599999 m,
      bearing: 27.749645 deg,
      approachRate: -0.245647 m/s,
      LOS rate: -4.760548 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 106.703420 deg,
      new cmd heading: 112.401800 deg.

2021-01-28T01:08:32.011Z,1611796112.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:32.782Z,1611796112.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:33.188Z,1611796113.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:34.033Z,1611796114.033 [Micromodem](INFO): Nmea in: $SNTTA,0.002206,,,,010834.52*4F

2021-01-28T01:08:34.058Z,1611796114.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 100.668772 deg, deltaT: 4.516056 s, approachRate: -0.066430 m/s, LOS rate: 16.146639 deg/s, posRepo size: 4
2021-01-28T01:08:34.059Z,1611796114.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.146639 deg/s. Setting heading cmd to target bearing of 100.668772deg and heading rate command to 0 deg/s.
2021-01-28T01:08:36.442Z,1611796116.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:37.234Z,1611796117.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:37.667Z,1611796117.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:38.465Z,1611796118.465 [Micromodem](INFO): Nmea in: $SNTTA,0.002472,,,,010838.97*4F

2021-01-28T01:08:38.487Z,1611796118.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.720000 m, bearing: 83.346121 deg, deltaT: 4.422346 s, approachRate: 0.094972 m/s, LOS rate: -3.917073 deg/s, posRepo size: 4
2021-01-28T01:08:38.489Z,1611796118.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 83.346121 deg,
      approachRate: 0.094972 m/s,
      LOS rate: -3.917073 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 100.668772 deg,
      new cmd heading: 100.668772 deg.

2021-01-28T01:08:40.913Z,1611796120.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:41.674Z,1611796121.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:42.084Z,1611796122.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:42.917Z,1611796122.917 [Micromodem](INFO): Nmea in: $SNTTA,0.003042,,,,010843.41*4E

2021-01-28T01:08:42.963Z,1611796122.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 93.839614 deg, deltaT: 4.418831 s, approachRate: 0.162939 m/s, LOS rate: 2.374721 deg/s, posRepo size: 4
2021-01-28T01:08:42.965Z,1611796122.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 93.839614 deg,
      approachRate: 0.162939 m/s,
      LOS rate: 2.374721 deg/s,
      cmd update: 9.498886 deg/s,
      cmd heading: 47.851191 deg,
      new cmd heading: 42.257066 deg.

2021-01-28T01:08:45.328Z,1611796125.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:46.122Z,1611796126.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:46.520Z,1611796126.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:47.365Z,1611796127.365 [Micromodem](INFO): Nmea in: $SNTTA,0.003783,,,,010847.86*4B

2021-01-28T01:08:47.387Z,1611796127.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 135.080993 deg, deltaT: 4.475744 s, approachRate: 0.321734 m/s, LOS rate: 9.214419 deg/s, posRepo size: 4
2021-01-28T01:08:47.389Z,1611796127.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 135.080993 deg,
      approachRate: 0.321734 m/s,
      LOS rate: 9.214419 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 90.395522 deg,
      new cmd heading: 94.302300 deg.

2021-01-28T01:08:49.786Z,1611796129.786 [PowerOnly](INFO): Powering down loadControl
2021-01-28T01:08:49.821Z,1611796129.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:50.566Z,1611796130.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:50.964Z,1611796130.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:51.825Z,1611796131.825 [Micromodem](INFO): Nmea in: $SNTTA,0.004889,,,,010852.30*40

2021-01-28T01:08:51.871Z,1611796131.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.559999 m, bearing: 34.406279 deg, deltaT: 4.387389 s, approachRate: 0.382915 m/s, LOS rate: -22.946384 deg/s, posRepo size: 4
2021-01-28T01:08:51.876Z,1611796131.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.946384 deg/s. Setting heading cmd to target bearing of 34.406279deg and heading rate command to 0 deg/s.
2021-01-28T01:08:53.898Z,1611796133.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:54.615Z,1611796134.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:55.022Z,1611796135.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:08:55.833Z,1611796135.833 [Micromodem](INFO): Nmea in: $SNTTA,0.007818,,,,010856.35*4A

2021-01-28T01:08:55.875Z,1611796135.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 87.447814 deg, deltaT: 4.039687 s, approachRate: 1.024832 m/s, LOS rate: 13.130110 deg/s, posRepo size: 4
2021-01-28T01:08:55.875Z,1611796135.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.130110 deg/s. Setting heading cmd to target bearing of 87.447814deg and heading rate command to 0 deg/s.
2021-01-28T01:08:58.264Z,1611796138.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:08:59.051Z,1611796139.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:08:59.459Z,1611796139.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:00.289Z,1611796140.289 [Micromodem](INFO): Nmea in: $SNTTA,0.007422,,,,010900.79*45

2021-01-28T01:09:00.311Z,1611796140.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.400001 m, bearing: 77.262874 deg, deltaT: 4.485793 s, approachRate: -0.066878 m/s, LOS rate: -2.270488 deg/s, posRepo size: 4
2021-01-28T01:09:00.313Z,1611796140.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 77.262874 deg,
      approachRate: -0.066878 m/s,
      LOS rate: -2.270488 deg/s,
      cmd update: -9.081952 deg/s,
      cmd heading: 87.447814 deg,
      new cmd heading: 87.447814 deg.

2021-01-28T01:09:02.751Z,1611796142.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:03.486Z,1611796143.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:03.900Z,1611796143.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:04.739Z,1611796144.739 [Micromodem](INFO): Nmea in: $SNTTA,0.008733,,,,010905.22*42

2021-01-28T01:09:04.774Z,1611796144.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.940002 m, bearing: 108.078318 deg, deltaT: 4.401748 s, approachRate: 0.804226 m/s, LOS rate: 7.000729 deg/s, posRepo size: 4
2021-01-28T01:09:04.776Z,1611796144.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 108.078318 deg,
      approachRate: 0.804226 m/s,
      LOS rate: 7.000729 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 47.472293 deg,
      new cmd heading: 43.247133 deg.

2021-01-28T01:09:07.154Z,1611796147.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:07.926Z,1611796147.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:08.345Z,1611796148.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:09.177Z,1611796149.177 [Micromodem](INFO): Nmea in: $SNTTA,0.010212,,,,010909.66*41

2021-01-28T01:09:09.192Z,1611796149.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.479998 m, bearing: 42.688904 deg, deltaT: 4.559833 s, approachRate: 0.118424 m/s, LOS rate: -14.340310 deg/s, posRepo size: 4
2021-01-28T01:09:09.193Z,1611796149.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.340310 deg/s. Setting heading cmd to target bearing of 42.688904deg and heading rate command to 0 deg/s.
2021-01-28T01:09:11.623Z,1611796151.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:12.370Z,1611796152.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:12.788Z,1611796152.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:13.622Z,1611796153.622 [Micromodem](INFO): Nmea in: $SNTTA,0.011518,,,,010914.11*41

2021-01-28T01:09:13.651Z,1611796153.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 41.655278 deg, deltaT: 4.351541 s, approachRate: 0.785928 m/s, LOS rate: -0.237531 deg/s, posRepo size: 4
2021-01-28T01:09:13.653Z,1611796153.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.899998 m,
      bearing: 41.655278 deg,
      approachRate: 0.785928 m/s,
      LOS rate: -0.237531 deg/s,
      cmd update: -0.950124 deg/s,
      cmd heading: 42.688904 deg,
      new cmd heading: 42.688904 deg.

2021-01-28T01:09:16.054Z,1611796156.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:16.818Z,1611796156.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:17.233Z,1611796157.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:18.065Z,1611796158.065 [Micromodem](INFO): Nmea in: $SNTTA,0.012930,,,,010918.55*48

2021-01-28T01:09:18.091Z,1611796158.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 62.260398 deg, deltaT: 4.462088 s, approachRate: 0.430293 m/s, LOS rate: 4.617820 deg/s, posRepo size: 4
2021-01-28T01:09:18.093Z,1611796158.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.820002 m,
      bearing: 62.260398 deg,
      approachRate: 0.430293 m/s,
      LOS rate: 4.617820 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 38.445531 deg,
      new cmd heading: 38.057399 deg.

2021-01-28T01:09:20.470Z,1611796160.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:21.262Z,1611796161.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:21.681Z,1611796161.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:22.525Z,1611796162.525 [Micromodem](INFO): Nmea in: $SNTTA,0.014277,0.030720,0.028414,,010923.00*43

2021-01-28T01:09:22.547Z,1611796162.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 27.562255 deg, deltaT: 4.430005 s, approachRate: 0.446951 m/s, LOS rate: -7.832529 deg/s, posRepo size: 4
2021-01-28T01:09:22.549Z,1611796162.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.799997 m,
      bearing: 27.562255 deg,
      approachRate: 0.446951 m/s,
      LOS rate: -7.832529 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 91.604452 deg,
      new cmd heading: 96.824872 deg.

2021-01-28T01:09:24.958Z,1611796164.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:25.725Z,1611796165.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:26.124Z,1611796166.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:26.937Z,1611796166.937 [Micromodem](INFO): Nmea in: $SNTTA,0.015519,,,,010927.46*46

2021-01-28T01:09:27.023Z,1611796167.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 32.214799 deg, deltaT: 4.437471 s, approachRate: 0.148734 m/s, LOS rate: 1.048467 deg/s, posRepo size: 4
2021-01-28T01:09:27.025Z,1611796167.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.459999 m,
      bearing: 32.214799 deg,
      approachRate: 0.148734 m/s,
      LOS rate: 1.048467 deg/s,
      cmd update: 4.193870 deg/s,
      cmd heading: 38.401215 deg,
      new cmd heading: 32.684354 deg.

2021-01-28T01:09:29.378Z,1611796169.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:30.146Z,1611796170.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:30.567Z,1611796170.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:31.397Z,1611796171.397 [Micromodem](INFO): Nmea in: $SNTTA,0.016849,,,,010931.88*48

2021-01-28T01:09:31.419Z,1611796171.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.379997 m, bearing: 51.667816 deg, deltaT: 4.494036 s, approachRate: 0.427232 m/s, LOS rate: 4.328630 deg/s, posRepo size: 4
2021-01-28T01:09:31.421Z,1611796171.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.379997 m,
      bearing: 51.667816 deg,
      approachRate: 0.427232 m/s,
      LOS rate: 4.328630 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 57.247945 deg,
      new cmd heading: 58.839800 deg.

2021-01-28T01:09:33.841Z,1611796173.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:34.617Z,1611796174.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:35.010Z,1611796175.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:35.833Z,1611796175.833 [Micromodem](INFO): Nmea in: $SNTTA,0.018293,,,,010936.35*4A

2021-01-28T01:09:35.883Z,1611796175.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 53.502316 deg, deltaT: 4.369009 s, approachRate: 0.494391 m/s, LOS rate: 0.419889 deg/s, posRepo size: 4
2021-01-28T01:09:35.885Z,1611796175.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.539997 m,
      bearing: 53.502316 deg,
      approachRate: 0.494391 m/s,
      LOS rate: 0.419889 deg/s,
      cmd update: 1.679557 deg/s,
      cmd heading: 109.724390 deg,
      new cmd heading: 115.369862 deg.

2021-01-28T01:09:38.246Z,1611796178.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:39.046Z,1611796179.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:39.446Z,1611796179.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:40.285Z,1611796180.285 [Micromodem](INFO): Nmea in: $SNTTA,0.019905,,,,010940.78*47

2021-01-28T01:09:40.315Z,1611796180.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 74.872581 deg, deltaT: 4.495024 s, approachRate: 0.720797 m/s, LOS rate: 4.754205 deg/s, posRepo size: 4
2021-01-28T01:09:40.317Z,1611796180.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.779999 m,
      bearing: 74.872581 deg,
      approachRate: 0.720797 m/s,
      LOS rate: 4.754205 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 117.274197 deg,
      new cmd heading: 117.958828 deg.

2021-01-28T01:09:42.745Z,1611796182.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:43.486Z,1611796183.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:43.902Z,1611796183.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:44.750Z,1611796184.750 [Micromodem](INFO): Nmea in: $SNTTA,0.021175,,,,010945.22*49

2021-01-28T01:09:44.813Z,1611796184.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 102.004497 deg, deltaT: 4.396867 s, approachRate: 0.245629 m/s, LOS rate: 6.170738 deg/s, posRepo size: 4
2021-01-28T01:09:44.814Z,1611796184.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 31.86 m. Rolling out.
2021-01-28T01:09:44.814Z,1611796184.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-28T01:09:47.131Z,1611796187.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:47.935Z,1611796187.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:48.332Z,1611796188.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:49.165Z,1611796189.165 [Micromodem](INFO): Nmea in: $SNTTA,0.022385,,,,010949.68*45

2021-01-28T01:09:49.204Z,1611796189.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.539997 m, bearing: 100.735072 deg, deltaT: 4.510302 s, approachRate: 0.372481 m/s, LOS rate: -0.281450 deg/s, posRepo size: 4
2021-01-28T01:09:51.632Z,1611796191.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:52.382Z,1611796192.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:52.781Z,1611796192.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:53.615Z,1611796193.615 [Micromodem](INFO): Nmea in: $SNTTA,0.023255,,,,010954.12*49

2021-01-28T01:09:53.651Z,1611796193.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 144.202847 deg, deltaT: 4.415487 s, approachRate: 0.326125 m/s, LOS rate: 9.844390 deg/s, posRepo size: 4
2021-01-28T01:09:54.456Z,1611796194.456 [DDM](ERROR): Could not parse latch state
2021-01-28T01:09:56.063Z,1611796196.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:09:56.818Z,1611796196.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:09:57.224Z,1611796197.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:09:58.061Z,1611796198.061 [Micromodem](INFO): Nmea in: $SNTTA,0.023927,,,,010958.55*48

2021-01-28T01:09:58.103Z,1611796198.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 176.047170 deg, deltaT: 4.464984 s, approachRate: 0.215006 m/s, LOS rate: 7.132013 deg/s, posRepo size: 4
2021-01-28T01:10:00.470Z,1611796200.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:01.258Z,1611796201.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:01.672Z,1611796201.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:02.497Z,1611796202.497 [Micromodem](INFO): Nmea in: $SNTTA,0.024474,,,,011003.00*42

2021-01-28T01:10:02.519Z,1611796202.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.779999 m, bearing: 219.265957 deg, deltaT: 4.431595 s, approachRate: 0.189548 m/s, LOS rate: 9.752422 deg/s, posRepo size: 4
2021-01-28T01:10:04.951Z,1611796204.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:05.726Z,1611796205.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:06.108Z,1611796206.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:06.941Z,1611796206.941 [Micromodem](INFO): Nmea in: $SNTTA,0.024499,,,,011007.46*47

2021-01-28T01:10:07.055Z,1611796207.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.779999 m, bearing: 173.065109 deg, deltaT: 4.420050 s, approachRate: 0.000000 m/s, LOS rate: -10.452562 deg/s, posRepo size: 4
2021-01-28T01:10:09.350Z,1611796209.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:10.150Z,1611796210.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:10.567Z,1611796210.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:11.393Z,1611796211.393 [Micromodem](INFO): Nmea in: $SNTTA,0.024568,,,,011011.89*4C

2021-01-28T01:10:11.415Z,1611796211.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.900002 m, bearing: 240.351843 deg, deltaT: 4.502993 s, approachRate: 0.026650 m/s, LOS rate: 14.942670 deg/s, posRepo size: 4
2021-01-28T01:10:13.825Z,1611796213.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:14.601Z,1611796214.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:15.006Z,1611796215.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:15.837Z,1611796215.837 [Micromodem](INFO): Nmea in: $SNTTA,0.024793,,,,011016.34*4B

2021-01-28T01:10:15.895Z,1611796215.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.139999 m, bearing: 238.494059 deg, deltaT: 4.377127 s, approachRate: 0.054830 m/s, LOS rate: -0.424430 deg/s, posRepo size: 4
2021-01-28T01:10:18.241Z,1611796218.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:19.038Z,1611796219.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:19.440Z,1611796219.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:20.313Z,1611796220.313 [Micromodem](INFO): Nmea in: $SNTTA,0.025344,,,,011020.77*46

2021-01-28T01:10:20.375Z,1611796220.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.099998 m, bearing: 224.301076 deg, deltaT: 4.465223 s, approachRate: 0.214995 m/s, LOS rate: -3.178561 deg/s, posRepo size: 4
2021-01-28T01:10:22.740Z,1611796222.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:23.478Z,1611796223.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:23.884Z,1611796223.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:24.741Z,1611796224.741 [Micromodem](INFO): Nmea in: $SNTTA,0.026076,,,,011025.21*41

2021-01-28T01:10:24.776Z,1611796224.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.240002 m, bearing: 202.760668 deg, deltaT: 4.405411 s, approachRate: 0.258773 m/s, LOS rate: -4.889534 deg/s, posRepo size: 4
2021-01-28T01:10:27.179Z,1611796227.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:27.931Z,1611796227.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:28.324Z,1611796228.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:29.173Z,1611796229.173 [Micromodem](INFO): Nmea in: $SNTTA,0.027222,,,,011029.67*4D

2021-01-28T01:10:29.203Z,1611796229.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.920002 m, bearing: 211.425938 deg, deltaT: 4.504486 s, approachRate: 0.372962 m/s, LOS rate: 1.923698 deg/s, posRepo size: 4
2021-01-28T01:10:31.620Z,1611796231.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:32.366Z,1611796232.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:32.776Z,1611796232.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:33.615Z,1611796233.615 [Micromodem](INFO): Nmea in: $SNTTA,0.028546,,,,011034.10*4B

2021-01-28T01:10:33.650Z,1611796233.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.840000 m, bearing: 216.592743 deg, deltaT: 4.423098 s, approachRate: 0.434084 m/s, LOS rate: 1.168142 deg/s, posRepo size: 4
2021-01-28T01:10:36.054Z,1611796236.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:36.819Z,1611796236.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:37.216Z,1611796237.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:38.049Z,1611796238.049 [Micromodem](INFO): Nmea in: $SNTTA,0.030047,,,,011038.55*4B

2021-01-28T01:10:38.090Z,1611796238.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.179996 m, bearing: 203.848143 deg, deltaT: 4.499851 s, approachRate: 0.520016 m/s, LOS rate: -2.832227 deg/s, posRepo size: 4
2021-01-28T01:10:40.458Z,1611796240.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:41.254Z,1611796241.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:41.679Z,1611796241.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:42.493Z,1611796242.493 [Micromodem](INFO): Nmea in: $SNTTA,0.032125,,,,011042.99*41

2021-01-28T01:10:42.526Z,1611796242.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.239998 m, bearing: 212.083275 deg, deltaT: 4.389627 s, approachRate: 0.697098 m/s, LOS rate: 1.876044 deg/s, posRepo size: 4
2021-01-28T01:10:44.944Z,1611796244.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:45.721Z,1611796245.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:46.104Z,1611796246.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:46.929Z,1611796246.929 [Micromodem](INFO): Nmea in: $SNTTA,0.034060,,,,011047.46*40

2021-01-28T01:10:46.998Z,1611796246.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 170.806926 deg, deltaT: 4.410382 s, approachRate: 0.516963 m/s, LOS rate: -9.358905 deg/s, posRepo size: 4
2021-01-28T01:10:49.345Z,1611796249.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:50.146Z,1611796250.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:50.548Z,1611796250.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:51.381Z,1611796251.381 [Micromodem](INFO): Nmea in: $SNTTA,0.035675,,0.043106,,011051.88*58

2021-01-28T01:10:51.426Z,1611796251.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 173.104642 deg, deltaT: 4.459425 s, approachRate: 0.686187 m/s, LOS rate: 0.515250 deg/s, posRepo size: 4
2021-01-28T01:10:53.835Z,1611796253.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:54.601Z,1611796254.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:55.002Z,1611796255.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:55.833Z,1611796255.833 [Micromodem](INFO): Nmea in: $SNTTA,0.037918,,,,011056.34*40

2021-01-28T01:10:55.882Z,1611796255.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.000004 m, bearing: 166.134721 deg, deltaT: 4.424977 s, approachRate: 0.772887 m/s, LOS rate: -1.575132 deg/s, posRepo size: 4
2021-01-28T01:10:57.913Z,1611796257.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:10:58.662Z,1611796258.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:10:59.040Z,1611796259.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:10:59.867Z,1611796259.867 [Micromodem](INFO): Nmea in: $SNTTA,0.040064,,,,011100.40*43

2021-01-28T01:10:59.930Z,1611796259.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 163.873628 deg, deltaT: 4.052745 s, approachRate: 0.784652 m/s, LOS rate: -0.557916 deg/s, posRepo size: 4
2021-01-28T01:11:02.301Z,1611796262.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:03.074Z,1611796263.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:03.476Z,1611796263.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:04.341Z,1611796264.341 [Micromodem](INFO): Nmea in: $SNTTA,0.042460,,,,011104.81*48

2021-01-28T01:11:04.363Z,1611796264.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.840004 m, bearing: 158.511424 deg, deltaT: 4.473402 s, approachRate: 0.818171 m/s, LOS rate: -1.198686 deg/s, posRepo size: 4
2021-01-28T01:11:06.782Z,1611796266.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:07.510Z,1611796267.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:07.920Z,1611796267.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:08.781Z,1611796268.781 [Micromodem](INFO): Nmea in: $SNTTA,0.044922,,,,011109.25*46

2021-01-28T01:11:08.951Z,1611796268.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.500000 m, bearing: 141.648165 deg, deltaT: 4.397433 s, approachRate: 0.832303 m/s, LOS rate: -3.834796 deg/s, posRepo size: 4
2021-01-28T01:11:11.181Z,1611796271.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:11.958Z,1611796271.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:12.368Z,1611796272.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:13.205Z,1611796273.205 [Micromodem](INFO): Nmea in: $SNTTA,0.047350,,,,011113.69*49

2021-01-28T01:11:13.239Z,1611796273.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.580002 m, bearing: 155.837828 deg, deltaT: 4.497741 s, approachRate: 0.907122 m/s, LOS rate: 3.154842 deg/s, posRepo size: 4
2021-01-28T01:11:15.642Z,1611796275.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:16.406Z,1611796276.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:16.808Z,1611796276.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:17.665Z,1611796277.665 [Micromodem](INFO): Nmea in: $SNTTA,0.049877,,0.087553,,011118.14*5A

2021-01-28T01:11:17.737Z,1611796277.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.360001 m, bearing: 150.634331 deg, deltaT: 4.410500 s, approachRate: 0.857045 m/s, LOS rate: -1.179798 deg/s, posRepo size: 4
2021-01-28T01:11:20.073Z,1611796280.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:20.846Z,1611796280.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:21.260Z,1611796281.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:22.113Z,1611796282.113 [Micromodem](INFO): Nmea in: $SNTTA,0.052504,,,,011122.58*4A

2021-01-28T01:11:22.154Z,1611796282.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.900009 m, bearing: 129.300426 deg, deltaT: 4.495756 s, approachRate: 0.787411 m/s, LOS rate: -4.745343 deg/s, posRepo size: 4
2021-01-28T01:11:24.502Z,1611796284.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:25.294Z,1611796285.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:25.706Z,1611796285.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:26.529Z,1611796286.529 [Micromodem](INFO): Nmea in: $SNTTA,0.055074,,,,011127.03*44

2021-01-28T01:11:26.570Z,1611796286.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.739998 m, bearing: 141.532052 deg, deltaT: 4.375948 s, approachRate: 0.877522 m/s, LOS rate: 2.795195 deg/s, posRepo size: 4
2021-01-28T01:11:28.972Z,1611796288.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:29.762Z,1611796289.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:30.144Z,1611796290.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:30.973Z,1611796290.973 [Micromodem](INFO): Nmea in: $SNTTA,0.057664,,,,011131.50*40

2021-01-28T01:11:31.042Z,1611796291.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.579994 m, bearing: 124.341108 deg, deltaT: 4.485857 s, approachRate: 0.856023 m/s, LOS rate: -3.832254 deg/s, posRepo size: 4
2021-01-28T01:11:33.409Z,1611796293.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:33.811Z,1611796293.811 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-01-28T01:11:34.186Z,1611796294.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:34.619Z,1611796294.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:35.433Z,1611796295.433 [Micromodem](INFO): Nmea in: $SNTTA,0.060284,,,,011135.92*44

2021-01-28T01:11:35.455Z,1611796295.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.540001 m, bearing: 184.492931 deg, deltaT: 4.449045 s, approachRate: 0.890080 m/s, LOS rate: 13.520165 deg/s, posRepo size: 4
2021-01-28T01:11:37.857Z,1611796297.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:38.653Z,1611796298.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:39.036Z,1611796299.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:39.861Z,1611796299.861 [Micromodem](INFO): Nmea in: $SNTTA,0.062835,,,,011140.39*45

2021-01-28T01:11:39.895Z,1611796299.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.320000 m, bearing: 179.879288 deg, deltaT: 4.419838 s, approachRate: 0.855235 m/s, LOS rate: -1.043849 deg/s, posRepo size: 4
2021-01-28T01:11:40.423Z,1611796300.423 [CTD_Seabird](ERROR): Failed to parse device response: .55
2021-01-28T01:11:42.298Z,1611796302.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:43.071Z,1611796303.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:43.494Z,1611796303.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:44.316Z,1611796304.316 [Micromodem](INFO): Nmea in: $SNTTA,0.065234,,,,011144.81*4E

2021-01-28T01:11:44.335Z,1611796304.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.919998 m, bearing: 174.097328 deg, deltaT: 4.597697 s, approachRate: 0.783000 m/s, LOS rate: -1.257577 deg/s, posRepo size: 4
2021-01-28T01:11:46.773Z,1611796306.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:47.506Z,1611796307.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:47.916Z,1611796307.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:48.774Z,1611796308.774 [Micromodem](INFO): Nmea in: $SNTTA,0.067795,,,,011149.24*40

2021-01-28T01:11:48.842Z,1611796308.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.120003 m, bearing: 185.890784 deg, deltaT: 4.268101 s, approachRate: 0.984045 m/s, LOS rate: 2.763162 deg/s, posRepo size: 4
2021-01-28T01:11:51.182Z,1611796311.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:51.959Z,1611796311.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:52.367Z,1611796312.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:53.201Z,1611796313.201 [Micromodem](INFO): Nmea in: $SNTTA,0.070379,,,,011153.69*42

2021-01-28T01:11:53.223Z,1611796313.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.960007 m, bearing: 200.772154 deg, deltaT: 4.484166 s, approachRate: 0.856347 m/s, LOS rate: 3.318648 deg/s, posRepo size: 4
2021-01-28T01:11:55.658Z,1611796315.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:11:56.402Z,1611796316.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:11:56.804Z,1611796316.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:11:57.653Z,1611796317.653 [Micromodem](INFO): Nmea in: $SNTTA,0.072826,,,,011158.14*40

2021-01-28T01:11:57.731Z,1611796317.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.680000 m, bearing: 181.332274 deg, deltaT: 4.417948 s, approachRate: 0.842018 m/s, LOS rate: -4.400206 deg/s, posRepo size: 4
2021-01-28T01:12:00.083Z,1611796320.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:00.850Z,1611796320.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:01.248Z,1611796321.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:02.090Z,1611796322.090 [Micromodem](INFO): Nmea in: $SNTTA,0.075189,,,,011202.58*4F

2021-01-28T01:12:02.905Z,1611796322.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:04.473Z,1611796324.473 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:12:05.778Z,1611796325.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:06.502Z,1611796326.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:06.904Z,1611796326.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:07.746Z,1611796327.746 [Micromodem](INFO): Nmea in: $SNTTA,0.078579,,,,011208.24*48

2021-01-28T01:12:08.542Z,1611796328.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:10.129Z,1611796330.129 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:12:11.389Z,1611796331.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:12.179Z,1611796332.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:12.569Z,1611796332.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:13.386Z,1611796333.386 [Micromodem](INFO): Nmea in: $SNTTA,0.081998,,,,011213.91*49

2021-01-28T01:12:14.195Z,1611796334.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:15.789Z,1611796335.789 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:12:17.046Z,1611796337.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:17.814Z,1611796337.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:18.216Z,1611796338.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:19.057Z,1611796339.057 [Micromodem](INFO): Nmea in: $SNTTA,0.085200,,,,011219.55*45

2021-01-28T01:12:19.093Z,1611796339.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.160004 m, bearing: 186.213196 deg, deltaT: 21.489888 s, approachRate: 0.859940 m/s, LOS rate: 0.227126 deg/s, posRepo size: 4
2021-01-28T01:12:21.488Z,1611796341.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:22.274Z,1611796342.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:22.694Z,1611796342.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:23.517Z,1611796343.517 [Micromodem](INFO): Nmea in: $SNTTA,0.087701,,,,011224.01*4C

2021-01-28T01:12:23.539Z,1611796343.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.759995 m, bearing: 185.909457 deg, deltaT: 4.393013 s, approachRate: 0.819481 m/s, LOS rate: -0.069141 deg/s, posRepo size: 4
2021-01-28T01:12:25.955Z,1611796345.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:26.727Z,1611796346.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:27.138Z,1611796347.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:27.932Z,1611796347.932 [Micromodem](INFO): Nmea in: $SNTTA,0.090376,,,,011228.46*41

2021-01-28T01:12:28.813Z,1611796348.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:30.345Z,1611796350.345 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:12:31.628Z,1611796351.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:32.370Z,1611796352.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:32.776Z,1611796352.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:33.621Z,1611796353.621 [Micromodem](INFO): Nmea in: $SNTTA,0.093801,,,,011234.11*46

2021-01-28T01:12:33.665Z,1611796353.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 183.239728 deg, deltaT: 10.089831 s, approachRate: 0.963346 m/s, LOS rate: -0.264596 deg/s, posRepo size: 4
2021-01-28T01:12:36.042Z,1611796356.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:36.810Z,1611796356.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:37.220Z,1611796357.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:38.061Z,1611796358.061 [Micromodem](INFO): Nmea in: $SNTTA,0.096368,,,,011238.55*4B

2021-01-28T01:12:38.091Z,1611796358.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.900009 m, bearing: 185.429295 deg, deltaT: 4.523706 s, approachRate: 0.756020 m/s, LOS rate: 0.484021 deg/s, posRepo size: 4
2021-01-28T01:12:40.470Z,1611796360.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:41.254Z,1611796361.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:41.664Z,1611796361.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:42.505Z,1611796362.505 [Micromodem](INFO): Nmea in: $SNTTA,0.099166,,,,011242.99*45

2021-01-28T01:12:42.527Z,1611796362.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 182.547515 deg, deltaT: 4.406462 s, approachRate: 0.939529 m/s, LOS rate: -0.653989 deg/s, posRepo size: 4
2021-01-28T01:12:44.925Z,1611796364.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:45.717Z,1611796365.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:46.108Z,1611796366.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:46.930Z,1611796366.930 [Micromodem](INFO): Nmea in: $SNTTA,0.101926,,,,011247.45*4D

2021-01-28T01:12:47.783Z,1611796367.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:49.333Z,1611796369.333 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:12:50.566Z,1611796370.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:51.362Z,1611796371.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:51.787Z,1611796371.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:52.617Z,1611796372.617 [Micromodem](INFO): Nmea in: $SNTTA,0.105299,,,,011253.10*43

2021-01-28T01:12:52.651Z,1611796372.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.220016 m, bearing: 177.481141 deg, deltaT: 10.079103 s, approachRate: 0.910796 m/s, LOS rate: -0.502661 deg/s, posRepo size: 4
2021-01-28T01:12:52.651Z,1611796372.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 158.22 m. Resuming terminal guidance.
2021-01-28T01:12:52.651Z,1611796372.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-28T01:12:55.039Z,1611796375.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:55.806Z,1611796375.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:12:56.204Z,1611796376.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:12:57.034Z,1611796377.034 [Micromodem](INFO): Nmea in: $SNTTA,0.107920,,,,011257.54*4C

2021-01-28T01:12:57.863Z,1611796377.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:12:59.433Z,1611796379.433 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:13:00.736Z,1611796380.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:01.458Z,1611796381.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:01.863Z,1611796381.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:02.691Z,1611796382.691 [Micromodem](INFO): Nmea in: $SNTTA,0.111365,,,0.113865,011303.19*5F

2021-01-28T01:13:03.496Z,1611796383.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:05.102Z,1611796385.102 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:13:05.527Z,1611796385.527 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-28T01:13:05.527Z,1611796385.527 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-28T01:13:05.527Z,1611796385.527 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-28T01:13:05.527Z,1611796385.527 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T01:13:05.527Z,1611796385.527 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-28T01:13:06.007Z,1611796386.007 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160360000005D00000400320000000000000000151D80030C5669BF527B60863426BA2D4C86DB42B335315436C1DC66EE5CA7C9E22AD193711008C11955
2021-01-28T01:13:06.008Z,1611796386.008 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 18C0A8000B77A0
2021-01-28T01:13:06.009Z,1611796386.009 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T01:13:06.109Z,1611796386.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:06.319Z,1611796386.319 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T01:13:06.742Z,1611796386.742 [Micromodem](INFO): Nmea in: $CADRQ,011307,1,10,0,64,1*72

2021-01-28T01:13:06.743Z,1611796386.743 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160360000005D00000400320000000000000000151D80030C5669BF527B60863426BA2D4C86DB42B335315436C1DC66EE5CA7C9E22AD193711008C11955*48

2021-01-28T01:13:07.147Z,1611796387.147 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T01:13:07.150Z,1611796387.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:07.605Z,1611796387.605 [Micromodem](INFO): Nmea in: $CADRQ,011308,1,10,0,64,2*7E

2021-01-28T01:13:07.605Z,1611796387.605 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,011308,1,10,0,64,2*7E

2021-01-28T01:13:08.008Z,1611796388.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:08.417Z,1611796388.417 [Micromodem](INFO): Nmea in: $SNTTA,0.114888,,,,011308.88*47

2021-01-28T01:13:08.439Z,1611796388.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.559998 m, bearing: 178.950464 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-28T01:13:08.440Z,1611796388.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 178.950464deg and heading rate command to 0 deg/s.
2021-01-28T01:13:10.867Z,1611796390.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:11.663Z,1611796391.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:12.032Z,1611796392.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:12.854Z,1611796392.854 [Micromodem](INFO): Nmea in: $SNTTA,0.117619,,,,011313.40*4C

2021-01-28T01:13:13.754Z,1611796393.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:15.277Z,1611796395.277 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:13:16.506Z,1611796396.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:17.298Z,1611796397.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:17.723Z,1611796397.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:18.526Z,1611796398.526 [Micromodem](INFO): Nmea in: $SNTTA,0.121122,,,,011319.03*4B

2021-01-28T01:13:19.390Z,1611796399.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:20.970Z,1611796400.970 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:13:22.209Z,1611796402.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:22.992Z,1611796402.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:23.396Z,1611796403.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:24.228Z,1611796404.228 [Micromodem](INFO): Nmea in: $SNTTA,0.124560,,,,011324.73*45

2021-01-28T01:13:24.698Z,1611796404.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.259995 m, bearing: 194.814344 deg, deltaT: 16.184305 s, approachRate: 0.908287 m/s, LOS rate: 0.980201 deg/s, posRepo size: 2
2021-01-28T01:13:24.713Z,1611796404.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.259995 m,
      bearing: 194.814344 deg,
      approachRate: 0.908287 m/s,
      LOS rate: 0.980201 deg/s,
      cmd update: 3.920806 deg/s,
      cmd heading: 178.950464 deg,
      new cmd heading: 178.950464 deg.

2021-01-28T01:13:27.170Z,1611796407.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:27.839Z,1611796407.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:28.248Z,1611796408.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:29.070Z,1611796409.070 [Micromodem](INFO): Nmea in: $SNTTA,0.127517,,,,011329.57*4D

2021-01-28T01:13:29.903Z,1611796409.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:31.477Z,1611796411.477 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:13:32.763Z,1611796412.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:33.495Z,1611796413.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:33.968Z,1611796413.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:34.790Z,1611796414.790 [Micromodem](INFO): Nmea in: $SNTTA,0.131017,,,,011335.23*41

2021-01-28T01:13:34.886Z,1611796414.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.500000 m, bearing: 202.881385 deg, deltaT: 10.138993 s, approachRate: 0.911334 m/s, LOS rate: 0.795645 deg/s, posRepo size: 3
2021-01-28T01:13:34.892Z,1611796414.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.500000 m,
      bearing: 202.881385 deg,
      approachRate: 0.911334 m/s,
      LOS rate: 0.795645 deg/s,
      cmd update: 3.182581 deg/s,
      cmd heading: 218.703450 deg,
      new cmd heading: 220.681481 deg.

2021-01-28T01:13:37.200Z,1611796417.200 [Micromodem](INFO): Nmea in: $CAERR,011338,DATA_TIMEOUT,2*45

2021-01-28T01:13:37.217Z,1611796417.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:37.593Z,1611796417.593 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-01-28T01:13:37.999Z,1611796417.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:38.834Z,1611796418.834 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-01-28T01:13:38.834Z,1611796418.834 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-01-28T01:13:39.223Z,1611796419.223 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,011338.521438,3,0,200,4000,14500,1,1,10,1,2,1,3,64*49

2021-01-28T01:13:39.223Z,1611796419.223 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,011338.521438,3,0,200,4000,14500,1,1,10,1,2,1,3,64*49

2021-01-28T01:13:39.740Z,1611796419.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:40.865Z,1611796420.865 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T01:13:41.246Z,1611796421.246 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128011341.557884,06,414,26,0102,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,6.5,3.00,03,0.00,-01,-1.04,36,14500,4000*5B

2021-01-28T01:13:41.246Z,1611796421.246 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128011341.557884,06,414,26,0102,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,6.5,3.00,03,0.00,-01,-1.04,36,14500,4000*5B

2021-01-28T01:13:42.476Z,1611796422.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:45.306Z,1611796425.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:46.905Z,1611796426.905 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-28T01:13:47.810Z,1611796427.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:49.329Z,1611796429.329 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:49.740Z,1611796429.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:50.567Z,1611796430.567 [Micromodem](INFO): Nmea in: $SNTTA,0.136933,,,,011351.06*4C

2021-01-28T01:13:51.103Z,1611796431.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.440002 m, bearing: 326.142434 deg, deltaT: 16.257525 s, approachRate: 0.549899 m/s, LOS rate: 7.581784 deg/s, posRepo size: 4
2021-01-28T01:13:51.105Z,1611796431.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.440002 m,
      bearing: 326.142434 deg,
      approachRate: 0.549899 m/s,
      LOS rate: 7.581784 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 270.444188 deg,
      new cmd heading: 271.922054 deg.

2021-01-28T01:13:53.378Z,1611796433.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:54.166Z,1611796434.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:54.594Z,1611796434.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:13:55.415Z,1611796435.415 [Micromodem](INFO): Nmea in: $SNTTA,0.137773,,,,011355.90*4C

2021-01-28T01:13:55.847Z,1611796435.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.699997 m, bearing: 243.482092 deg, deltaT: 4.790617 s, approachRate: 0.263013 m/s, LOS rate: -17.254634 deg/s, posRepo size: 4
2021-01-28T01:13:55.852Z,1611796435.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.254634 deg/s. Setting heading cmd to target bearing of 243.482092deg and heading rate command to 0 deg/s.
2021-01-28T01:13:58.230Z,1611796438.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:13:59.033Z,1611796439.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:13:59.428Z,1611796439.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:00.246Z,1611796440.246 [Micromodem](INFO): Nmea in: $SNTTA,0.138092,,,,011400.77*45

2021-01-28T01:14:00.758Z,1611796440.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.059982 m, bearing: 338.112915 deg, deltaT: 4.845783 s, approachRate: 0.074288 m/s, LOS rate: 19.528489 deg/s, posRepo size: 4
2021-01-28T01:14:00.759Z,1611796440.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.528489 deg/s. Setting heading cmd to target bearing of 338.112915deg and heading rate command to 0 deg/s.
2021-01-28T01:14:03.114Z,1611796443.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:03.866Z,1611796443.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:04.272Z,1611796444.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:05.116Z,1611796445.116 [Micromodem](INFO): Nmea in: $SNTTA,0.137495,,,,011405.60*4A

2021-01-28T01:14:05.566Z,1611796445.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.159988 m, bearing: 325.662381 deg, deltaT: 4.917835 s, approachRate: -0.183006 m/s, LOS rate: -2.531710 deg/s, posRepo size: 4
2021-01-28T01:14:05.568Z,1611796445.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.159988 m,
      bearing: 325.662381 deg,
      approachRate: -0.183006 m/s,
      LOS rate: -2.531710 deg/s,
      cmd update: -10.126841 deg/s,
      cmd heading: 338.112915 deg,
      new cmd heading: 338.112915 deg.

2021-01-28T01:14:07.966Z,1611796447.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:08.747Z,1611796448.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:09.136Z,1611796449.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:09.951Z,1611796449.951 [Micromodem](INFO): Nmea in: $SNTTA,0.136945,,,,011410.48*45

2021-01-28T01:14:10.469Z,1611796450.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.319992 m, bearing: 20.634748 deg, deltaT: 4.824732 s, approachRate: -0.174102 m/s, LOS rate: 11.393868 deg/s, posRepo size: 4
2021-01-28T01:14:10.471Z,1611796450.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.319992 m,
      bearing: 20.634748 deg,
      approachRate: -0.174102 m/s,
      LOS rate: 11.393868 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 289.075371 deg,
      new cmd heading: 284.485846 deg.

2021-01-28T01:14:11.164Z,1611796451.164 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-28T01:14:11.666Z,1611796451.666 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 5CEA1160360000005D00000400320000000000000000151D80030C5669BF527B60863426BA2D4C86DB42B335315436C1DC66EE5CA7C9E22AD193711008C11955
2021-01-28T01:14:11.669Z,1611796451.669 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 18C0A8000B77A0
2021-01-28T01:14:11.670Z,1611796451.670 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-28T01:14:11.969Z,1611796451.969 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-28T01:14:12.369Z,1611796452.369 [Micromodem](INFO): Nmea in: $CADRQ,011413,1,10,0,64,1*70

2021-01-28T01:14:12.369Z,1611796452.369 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CEA1160360000005D00000400320000000000000000151D80030C5669BF527B60863426BA2D4C86DB42B335315436C1DC66EE5CA7C9E22AD193711008C11955*48

2021-01-28T01:14:12.591Z,1611796452.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:12.783Z,1611796452.783 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-28T01:14:13.170Z,1611796453.170 [Micromodem](INFO): Nmea in: $CADRQ,011414,1,10,0,64,2*74

2021-01-28T01:14:13.171Z,1611796453.171 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,18C0A8000B77A0*49

2021-01-28T01:14:13.568Z,1611796453.568 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-01-28T01:14:13.568Z,1611796453.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:13.970Z,1611796453.970 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-01-28T01:14:13.970Z,1611796453.970 [Micromodem](ERROR): Response from modem unexpected: $CATXP,71*74

2021-01-28T01:14:15.198Z,1611796455.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:16.394Z,1611796456.394 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-01-28T01:14:16.394Z,1611796456.394 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-01-28T01:14:16.799Z,1611796456.799 [Micromodem](INFO): Nmea in: $CAXST,6,20210128,011414.881366,3,0,200,4000,14500,1,1,10,1,2,2,3,71*4C

2021-01-28T01:14:16.799Z,1611796456.799 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210128,011414.881366,3,0,200,4000,14500,1,1,10,1,2,2,3,71*4C

2021-01-28T01:14:18.071Z,1611796458.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:19.218Z,1611796459.218 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-28T01:14:19.658Z,1611796459.658 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-28T01:14:19.659Z,1611796459.659 [Micromodem](INFO): Sent 63 bytes from file Logs/20210127T223404/Courier0054.lzma.parts
2021-01-28T01:14:19.659Z,1611796459.659 [Micromodem](INFO): Packets left to send: 0
2021-01-28T01:14:20.037Z,1611796460.037 [Micromodem](INFO): Nmea in: $CACST,6,0,20210128011419.723375,06,5893,37,0217,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,18.0,6.00,17,-3.00,-01,0.55,26,14500,4000*55

2021-01-28T01:14:20.038Z,1611796460.038 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210128011419.723375,06,5893,37,0217,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,18.0,6.00,17,-3.00,-01,0.55,26,14500,4000*55

2021-01-28T01:14:20.198Z,1611796460.198 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-28T01:14:20.198Z,1611796460.198 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-28T01:14:20.198Z,1611796460.198 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-28T01:14:20.198Z,1611796460.198 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-28T01:14:20.198Z,1611796460.198 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-28T01:14:20.873Z,1611796460.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:23.442Z,1611796463.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:24.877Z,1611796464.877 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:25.284Z,1611796465.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:26.104Z,1611796466.104 [Micromodem](INFO): Nmea in: $SNTTA,0.133853,,,,011426.61*48

2021-01-28T01:14:26.527Z,1611796466.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 16.203405 deg, deltaT: 16.133393 s, approachRate: -0.286362 m/s, LOS rate: -0.274669 deg/s, posRepo size: 4
2021-01-28T01:14:26.529Z,1611796466.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.699997 m,
      bearing: 16.203405 deg,
      approachRate: -0.286362 m/s,
      LOS rate: -0.274669 deg/s,
      cmd update: -1.098676 deg/s,
      cmd heading: 122.657911 deg,
      new cmd heading: 127.218787 deg.

2021-01-28T01:14:28.957Z,1611796468.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:29.742Z,1611796469.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:30.132Z,1611796470.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:30.969Z,1611796470.969 [Micromodem](INFO): Nmea in: $SNTTA,0.132479,,,,011431.48*40

2021-01-28T01:14:31.386Z,1611796471.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.539993 m, bearing: 14.735867 deg, deltaT: 4.891913 s, approachRate: -0.441546 m/s, LOS rate: -0.299993 deg/s, posRepo size: 4
2021-01-28T01:14:31.388Z,1611796471.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.539993 m,
      bearing: 14.735867 deg,
      approachRate: -0.441546 m/s,
      LOS rate: -0.299993 deg/s,
      cmd update: -1.199971 deg/s,
      cmd heading: 117.282544 deg,
      new cmd heading: 116.902476 deg.

2021-01-28T01:14:33.814Z,1611796473.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:34.587Z,1611796474.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:34.989Z,1611796474.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:35.815Z,1611796475.815 [Micromodem](INFO): Nmea in: $SNTTA,0.130831,,,,011436.32*48

2021-01-28T01:14:36.223Z,1611796476.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.079987 m, bearing: 12.004596 deg, deltaT: 4.806748 s, approachRate: -0.511782 m/s, LOS rate: -0.568216 deg/s, posRepo size: 4
2021-01-28T01:14:36.242Z,1611796476.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.079987 m,
      bearing: 12.004596 deg,
      approachRate: -0.511782 m/s,
      LOS rate: -0.568216 deg/s,
      cmd update: -2.272863 deg/s,
      cmd heading: 111.511319 deg,
      new cmd heading: 111.062379 deg.

2021-01-28T01:14:38.655Z,1611796478.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:39.423Z,1611796479.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:39.828Z,1611796479.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:40.682Z,1611796480.682 [Micromodem](INFO): Nmea in: $SNTTA,0.129280,,,,011441.16*46

2021-01-28T01:14:41.086Z,1611796481.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.859985 m, bearing: 10.758039 deg, deltaT: 4.914773 s, approachRate: -0.451700 m/s, LOS rate: -0.253635 deg/s, posRepo size: 4
2021-01-28T01:14:41.088Z,1611796481.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.859985 m,
      bearing: 10.758039 deg,
      approachRate: -0.451700 m/s,
      LOS rate: -0.253635 deg/s,
      cmd update: -1.014539 deg/s,
      cmd heading: 100.339423 deg,
      new cmd heading: 99.609636 deg.

2021-01-28T01:14:43.481Z,1611796483.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:44.277Z,1611796484.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:44.677Z,1611796484.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:45.516Z,1611796485.516 [Micromodem](INFO): Nmea in: $SNTTA,0.128043,,,,011446.01*4B

2021-01-28T01:14:45.942Z,1611796485.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.939987 m, bearing: 6.890671 deg, deltaT: 4.766424 s, approachRate: -0.402817 m/s, LOS rate: -0.811377 deg/s, posRepo size: 4
2021-01-28T01:14:45.944Z,1611796485.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.939987 m,
      bearing: 6.890671 deg,
      approachRate: -0.402817 m/s,
      LOS rate: -0.811377 deg/s,
      cmd update: -3.245509 deg/s,
      cmd heading: 95.503632 deg,
      new cmd heading: 95.086531 deg.

2021-01-28T01:14:48.341Z,1611796488.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:49.130Z,1611796489.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:49.520Z,1611796489.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:50.351Z,1611796490.351 [Micromodem](INFO): Nmea in: $SNTTA,0.127298,,,,011450.87*49

2021-01-28T01:14:50.810Z,1611796490.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.979980 m, bearing: 9.608318 deg, deltaT: 4.834887 s, approachRate: -0.198558 m/s, LOS rate: 0.562091 deg/s, posRepo size: 4
2021-01-28T01:14:50.811Z,1611796490.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.979980 m,
      bearing: 9.608318 deg,
      approachRate: -0.198558 m/s,
      LOS rate: 0.562091 deg/s,
      cmd update: 2.248364 deg/s,
      cmd heading: 79.811925 deg,
      new cmd heading: 78.372176 deg.

2021-01-28T01:14:53.173Z,1611796493.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:53.987Z,1611796493.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:54.018Z,1611796494.018 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-28T01:14:54.492Z,1611796494.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:55.313Z,1611796495.313 [Micromodem](INFO): Nmea in: $SNTTA,0.127141,,,,011455.72*41

2021-01-28T01:14:55.365Z,1611796495.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 13.111104 deg, deltaT: 4.587380 s, approachRate: -0.052315 m/s, LOS rate: 0.763570 deg/s, posRepo size: 4
2021-01-28T01:14:55.368Z,1611796495.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.739990 m,
      bearing: 13.111104 deg,
      approachRate: -0.052315 m/s,
      LOS rate: 0.763570 deg/s,
      cmd update: 3.054280 deg/s,
      cmd heading: 90.116877 deg,
      new cmd heading: 91.049413 deg.

2021-01-28T01:14:57.778Z,1611796497.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:14:58.538Z,1611796498.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:14:58.927Z,1611796498.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:14:59.787Z,1611796499.787 [Micromodem](INFO): Nmea in: $SNTTA,0.126931,,0.135950,,011500.27*5B

2021-01-28T01:15:00.179Z,1611796500.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 75.298280 deg, deltaT: 4.895860 s, approachRate: -0.061277 m/s, LOS rate: 12.701993 deg/s, posRepo size: 4
2021-01-28T01:15:00.180Z,1611796500.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.701993 deg/s. Setting heading cmd to target bearing of 75.298280deg and heading rate command to 0 deg/s.
2021-01-28T01:15:02.632Z,1611796502.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:03.381Z,1611796503.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:03.789Z,1611796503.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:04.627Z,1611796504.627 [Micromodem](INFO): Nmea in: $SNTTA,0.127247,,,,011505.12*46

2021-01-28T01:15:05.055Z,1611796505.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 129.543471 deg, deltaT: 4.802515 s, approachRate: 0.062468 m/s, LOS rate: 11.295163 deg/s, posRepo size: 4
2021-01-28T01:15:05.057Z,1611796505.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.739990 m,
      bearing: 129.543471 deg,
      approachRate: 0.062468 m/s,
      LOS rate: 11.295163 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 75.298280 deg,
      new cmd heading: 75.298280 deg.

2021-01-28T01:15:07.440Z,1611796507.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:08.225Z,1611796508.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:08.659Z,1611796508.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:09.468Z,1611796509.468 [Micromodem](INFO): Nmea in: $SNTTA,0.127556,,,,011509.96*41

2021-01-28T01:15:09.891Z,1611796509.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 66.522839 deg, deltaT: 4.848071 s, approachRate: 0.099011 m/s, LOS rate: -12.999115 deg/s, posRepo size: 4
2021-01-28T01:15:09.891Z,1611796509.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.999115 deg/s. Setting heading cmd to target bearing of 66.522839deg and heading rate command to 0 deg/s.
2021-01-28T01:15:12.319Z,1611796512.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:13.066Z,1611796513.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:13.478Z,1611796513.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:14.306Z,1611796514.306 [Micromodem](INFO): Nmea in: $SNTTA,0.127586,,,,011514.80*47

2021-01-28T01:15:15.119Z,1611796515.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:16.729Z,1611796516.729 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-28T01:15:17.976Z,1611796517.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:18.750Z,1611796518.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:19.132Z,1611796519.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:19.963Z,1611796519.963 [Micromodem](INFO): Nmea in: $SNTTA,0.127854,,,,011520.48*46

2021-01-28T01:15:20.391Z,1611796520.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.819992 m, bearing: 23.064813 deg, deltaT: 10.540397 s, approachRate: 0.056923 m/s, LOS rate: -4.122997 deg/s, posRepo size: 4
2021-01-28T01:15:20.393Z,1611796520.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.819992 m,
      bearing: 23.064813 deg,
      approachRate: 0.056923 m/s,
      LOS rate: -4.122997 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 66.522839 deg,
      new cmd heading: 66.522839 deg.

2021-01-28T01:15:22.832Z,1611796522.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:23.575Z,1611796523.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:23.990Z,1611796523.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:24.800Z,1611796524.800 [Micromodem](INFO): Nmea in: $SNTTA,0.128027,,,,011525.31*4E

2021-01-28T01:15:25.221Z,1611796525.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.999985 m, bearing: 3.299805 deg, deltaT: 4.835672 s, approachRate: 0.037222 m/s, LOS rate: -4.087334 deg/s, posRepo size: 4
2021-01-28T01:15:25.222Z,1611796525.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.999985 m,
      bearing: 3.299805 deg,
      approachRate: 0.037222 m/s,
      LOS rate: -4.087334 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 8.637741 deg,
      new cmd heading: 4.353045 deg.

2021-01-28T01:15:27.665Z,1611796527.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:28.422Z,1611796528.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:28.828Z,1611796528.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:29.692Z,1611796529.692 [Micromodem](INFO): Nmea in: $SNTTA,0.127292,,,,011530.16*4C

2021-01-28T01:15:30.089Z,1611796530.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 0.550486 deg, deltaT: 4.873478 s, approachRate: -0.258541 m/s, LOS rate: -0.564139 deg/s, posRepo size: 4
2021-01-28T01:15:30.090Z,1611796530.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.739990 m,
      bearing: 0.550486 deg,
      approachRate: -0.258541 m/s,
      LOS rate: -0.564139 deg/s,
      cmd update: -2.256556 deg/s,
      cmd heading: 309.964015 deg,
      new cmd heading: 305.898391 deg.

2021-01-28T01:15:32.495Z,1611796532.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:33.274Z,1611796533.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:33.679Z,1611796533.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:34.511Z,1611796534.511 [Micromodem](INFO): Nmea in: $SNTTA,0.126194,,,,011535.01*4B

2021-01-28T01:15:34.962Z,1611796534.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.059998 m, bearing: 358.636650 deg, deltaT: 4.776825 s, approachRate: -0.351697 m/s, LOS rate: -0.400650 deg/s, posRepo size: 4
2021-01-28T01:15:34.969Z,1611796534.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.059998 m,
      bearing: 358.636650 deg,
      approachRate: -0.351697 m/s,
      LOS rate: -0.400650 deg/s,
      cmd update: -1.602601 deg/s,
      cmd heading: 299.184909 deg,
      new cmd heading: 298.214748 deg.

2021-01-28T01:15:37.359Z,1611796537.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:38.130Z,1611796538.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:38.520Z,1611796538.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:39.344Z,1611796539.344 [Micromodem](INFO): Nmea in: $SNTTA,0.124595,,,,011539.87*4E

2021-01-28T01:15:39.817Z,1611796539.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.660004 m, bearing: 2.446479 deg, deltaT: 4.839133 s, approachRate: -0.495955 m/s, LOS rate: 0.787299 deg/s, posRepo size: 4
2021-01-28T01:15:39.818Z,1611796539.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.660004 m,
      bearing: 2.446479 deg,
      approachRate: -0.495955 m/s,
      LOS rate: 0.787299 deg/s,
      cmd update: 3.149194 deg/s,
      cmd heading: 291.429674 deg,
      new cmd heading: 290.706973 deg.

2021-01-28T01:15:42.184Z,1611796542.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:42.974Z,1611796542.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:43.372Z,1611796543.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:44.201Z,1611796544.201 [Micromodem](INFO): Nmea in: $SNTTA,0.122914,,,,011544.71*4E

2021-01-28T01:15:44.660Z,1611796544.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.140015 m, bearing: 2.893692 deg, deltaT: 4.863012 s, approachRate: -0.518195 m/s, LOS rate: 0.091962 deg/s, posRepo size: 4
2021-01-28T01:15:44.662Z,1611796544.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.140015 m,
      bearing: 2.893692 deg,
      approachRate: -0.518195 m/s,
      LOS rate: 0.091962 deg/s,
      cmd update: 0.367848 deg/s,
      cmd heading: 306.705980 deg,
      new cmd heading: 308.091398 deg.

2021-01-28T01:15:47.043Z,1611796547.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:47.814Z,1611796547.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:48.228Z,1611796548.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:49.049Z,1611796549.049 [Micromodem](INFO): Nmea in: $SNTTA,0.121952,,,,011549.55*44

2021-01-28T01:15:49.094Z,1611796549.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.140015 m, bearing: 12.838976 deg, deltaT: 4.507286 s, approachRate: 0.000000 m/s, LOS rate: 2.206490 deg/s, posRepo size: 4
2021-01-28T01:15:49.096Z,1611796549.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.140015 m,
      bearing: 12.838976 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.206490 deg/s,
      cmd update: 8.825961 deg/s,
      cmd heading: 308.366918 deg,
      new cmd heading: 308.500359 deg.

2021-01-28T01:15:51.518Z,1611796551.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:52.258Z,1611796552.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:52.672Z,1611796552.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:53.509Z,1611796553.509 [Micromodem](INFO): Nmea in: $SNTTA,0.121221,,,,011554.00*47

2021-01-28T01:15:53.552Z,1611796553.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.140015 m, bearing: 279.784356 deg, deltaT: 4.376711 s, approachRate: 0.000000 m/s, LOS rate: -21.261313 deg/s, posRepo size: 4
2021-01-28T01:15:53.553Z,1611796553.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.261313 deg/s. Setting heading cmd to target bearing of 279.784356deg and heading rate command to 0 deg/s.
2021-01-28T01:15:55.931Z,1611796555.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:15:56.732Z,1611796556.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:15:57.108Z,1611796557.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:15:57.939Z,1611796557.939 [Micromodem](INFO): Nmea in: $SNTTA,0.120984,,,,011558.47*4D

2021-01-28T01:15:58.359Z,1611796558.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.379990 m, bearing: 342.538741 deg, deltaT: 4.912252 s, approachRate: -0.561866 m/s, LOS rate: 12.775074 deg/s, posRepo size: 4
2021-01-28T01:15:58.359Z,1611796558.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.775074 deg/s. Setting heading cmd to target bearing of 342.538741deg and heading rate command to 0 deg/s.
2021-01-28T01:16:00.812Z,1611796560.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:01.554Z,1611796561.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:01.964Z,1611796561.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:02.809Z,1611796562.809 [Micromodem](INFO): Nmea in: $SNTTA,0.120363,,,,011603.29*4B

2021-01-28T01:16:02.860Z,1611796562.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.379990 m, bearing: 329.413303 deg, deltaT: 4.366753 s, approachRate: 0.000000 m/s, LOS rate: -3.005766 deg/s, posRepo size: 4
2021-01-28T01:16:02.862Z,1611796562.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.379990 m,
      bearing: 329.413303 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.005766 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 342.538741 deg,
      new cmd heading: 342.538741 deg.

2021-01-28T01:16:05.207Z,1611796565.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:06.004Z,1611796566.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:06.419Z,1611796566.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:07.232Z,1611796567.232 [Micromodem](INFO): Nmea in: $SNTTA,0.120071,,,,011607.74*47

2021-01-28T01:16:07.746Z,1611796567.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.060013 m, bearing: 272.658146 deg, deltaT: 4.919274 s, approachRate: -0.268328 m/s, LOS rate: -11.537304 deg/s, posRepo size: 4
2021-01-28T01:16:07.747Z,1611796567.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.537304 deg/s. Setting heading cmd to target bearing of 272.658146deg and heading rate command to 0 deg/s.
2021-01-28T01:16:10.082Z,1611796570.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:10.846Z,1611796570.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:11.249Z,1611796571.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:12.098Z,1611796572.098 [Micromodem](INFO): Nmea in: $SNTTA,0.120058,,,,011612.58*46

2021-01-28T01:16:12.127Z,1611796572.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.060013 m, bearing: 337.342169 deg, deltaT: 4.435998 s, approachRate: 0.000000 m/s, LOS rate: 14.581617 deg/s, posRepo size: 4
2021-01-28T01:16:12.128Z,1611796572.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.581617 deg/s. Setting heading cmd to target bearing of 337.342169deg and heading rate command to 0 deg/s.
2021-01-28T01:16:14.512Z,1611796574.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:15.293Z,1611796575.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:15.722Z,1611796575.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:16.537Z,1611796576.537 [Micromodem](INFO): Nmea in: $SNTTA,0.120193,,,,011617.03*4B

2021-01-28T01:16:16.559Z,1611796576.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.060013 m, bearing: 322.242369 deg, deltaT: 4.403356 s, approachRate: 0.000000 m/s, LOS rate: -3.429157 deg/s, posRepo size: 4
2021-01-28T01:16:16.561Z,1611796576.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.060013 m,
      bearing: 322.242369 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.429157 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 337.342169 deg,
      new cmd heading: 337.342169 deg.

2021-01-28T01:16:18.972Z,1611796578.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:19.758Z,1611796579.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:20.139Z,1611796580.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:20.969Z,1611796580.969 [Micromodem](INFO): Nmea in: $SNTTA,0.120918,,,,011621.49*4B

2021-01-28T01:16:21.388Z,1611796581.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.320007 m, bearing: 350.168007 deg, deltaT: 4.880534 s, approachRate: 0.258167 m/s, LOS rate: 5.721841 deg/s, posRepo size: 4
2021-01-28T01:16:21.390Z,1611796581.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.320007 m,
      bearing: 350.168007 deg,
      approachRate: 0.258167 m/s,
      LOS rate: 5.721841 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 278.663799 deg,
      new cmd heading: 274.374279 deg.

2021-01-28T01:16:23.835Z,1611796583.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:24.574Z,1611796584.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:24.984Z,1611796584.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:25.813Z,1611796585.813 [Micromodem](INFO): Nmea in: $SNTTA,0.121692,,0.126074,,011626.31*57

2021-01-28T01:16:26.217Z,1611796586.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.520004 m, bearing: 265.383148 deg, deltaT: 4.840715 s, approachRate: 0.247897 m/s, LOS rate: -17.514946 deg/s, posRepo size: 4
2021-01-28T01:16:26.217Z,1611796586.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.514946 deg/s. Setting heading cmd to target bearing of 265.383148deg and heading rate command to 0 deg/s.
2021-01-28T01:16:28.731Z,1611796588.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:29.426Z,1611796589.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:29.833Z,1611796589.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:30.677Z,1611796590.677 [Micromodem](INFO): Nmea in: $SNTTA,0.122320,,,,011631.16*43

2021-01-28T01:16:30.775Z,1611796590.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.480011 m, bearing: 314.360741 deg, deltaT: 4.439270 s, approachRate: 0.216253 m/s, LOS rate: 11.032804 deg/s, posRepo size: 4
2021-01-28T01:16:30.782Z,1611796590.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.480011 m,
      bearing: 314.360741 deg,
      approachRate: 0.216253 m/s,
      LOS rate: 11.032804 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 265.383148 deg,
      new cmd heading: 265.383148 deg.

2021-01-28T01:16:33.100Z,1611796593.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:33.870Z,1611796593.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:34.312Z,1611796594.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:35.137Z,1611796595.137 [Micromodem](INFO): Nmea in: $SNTTA,0.122997,,,,011635.60*40

2021-01-28T01:16:35.157Z,1611796595.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.440018 m, bearing: 354.660660 deg, deltaT: 4.476703 s, approachRate: 0.214445 m/s, LOS rate: 9.002142 deg/s, posRepo size: 4
2021-01-28T01:16:35.159Z,1611796595.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.440018 m,
      bearing: 354.660660 deg,
      approachRate: 0.214445 m/s,
      LOS rate: 9.002142 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 319.104534 deg,
      new cmd heading: 323.541834 deg.

2021-01-28T01:16:37.566Z,1611796597.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:37.982Z,1611796597.982 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T01:16:38.350Z,1611796598.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:38.772Z,1611796598.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:39.619Z,1611796599.619 [Micromodem](INFO): Nmea in: $SNTTA,0.124081,,0.125237,,011640.08*5A

2021-01-28T01:16:39.673Z,1611796599.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.440018 m, bearing: 342.307225 deg, deltaT: 4.404274 s, approachRate: 0.000000 m/s, LOS rate: -2.804874 deg/s, posRepo size: 4
2021-01-28T01:16:39.675Z,1611796599.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.440018 m,
      bearing: 342.307225 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.804874 deg/s,
      cmd update: -11.219498 deg/s,
      cmd heading: 11.914087 deg,
      new cmd heading: 17.667643 deg.

2021-01-28T01:16:42.060Z,1611796602.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:42.798Z,1611796602.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:43.215Z,1611796603.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:44.072Z,1611796604.072 [Micromodem](INFO): Nmea in: $SNTTA,0.125083,,,,011644.54*4A

2021-01-28T01:16:44.469Z,1611796604.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.739990 m, bearing: 263.964982 deg, deltaT: 4.934682 s, approachRate: 0.668731 m/s, LOS rate: -15.875844 deg/s, posRepo size: 4
2021-01-28T01:16:44.470Z,1611796604.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.875844 deg/s. Setting heading cmd to target bearing of 263.964982deg and heading rate command to 0 deg/s.
2021-01-28T01:16:46.888Z,1611796606.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:47.667Z,1611796607.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:48.060Z,1611796608.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:48.872Z,1611796608.872 [Micromodem](INFO): Nmea in: $SNTTA,0.125448,,,,011649.40*41

2021-01-28T01:16:49.295Z,1611796609.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.099991 m, bearing: 349.832946 deg, deltaT: 4.800986 s, approachRate: 0.074985 m/s, LOS rate: 17.885486 deg/s, posRepo size: 4
2021-01-28T01:16:49.298Z,1611796609.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.885486 deg/s. Setting heading cmd to target bearing of 349.832946deg and heading rate command to 0 deg/s.
2021-01-28T01:16:51.765Z,1611796611.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:52.494Z,1611796612.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:52.900Z,1611796612.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:53.755Z,1611796613.755 [Micromodem](INFO): Nmea in: $SNTTA,0.125443,,,,011654.23*43

2021-01-28T01:16:54.153Z,1611796614.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 339.744702 deg, deltaT: 4.883698 s, approachRate: 0.036856 m/s, LOS rate: -2.065698 deg/s, posRepo size: 4
2021-01-28T01:16:54.155Z,1611796614.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 339.744702 deg,
      approachRate: 0.036856 m/s,
      LOS rate: -2.065698 deg/s,
      cmd update: -8.262791 deg/s,
      cmd heading: 349.832946 deg,
      new cmd heading: 349.832946 deg.

2021-01-28T01:16:56.546Z,1611796616.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:16:57.346Z,1611796617.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:16:57.794Z,1611796617.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:16:58.579Z,1611796618.579 [Micromodem](INFO): Nmea in: $SNTTA,0.125943,,,,011659.08*4A

2021-01-28T01:16:59.016Z,1611796619.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.939987 m, bearing: 261.116301 deg, deltaT: 4.828653 s, approachRate: 0.136685 m/s, LOS rate: -16.283712 deg/s, posRepo size: 4
2021-01-28T01:16:59.017Z,1611796619.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.283712 deg/s. Setting heading cmd to target bearing of 261.116301deg and heading rate command to 0 deg/s.
2021-01-28T01:17:01.405Z,1611796621.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-28T01:17:02.190Z,1611796622.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:17:02.618Z,1611796622.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:17:03.428Z,1611796623.428 [Micromodem](INFO): Nmea in: $SNTTA,0.126766,,,,011703.92*4D

2021-01-28T01:17:03.868Z,1611796623.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.199997 m, bearing: 277.043538 deg, deltaT: 4.805031 s, approachRate: 0.262227 m/s, LOS rate: 3.314700 deg/s, posRepo size: 4
2021-01-28T01:17:03.870Z,1611796623.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.199997 m,
      bearing: 277.043538 deg,
      approachRate: 0.262227 m/s,
      LOS rate: 3.314700 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 261.116301 deg,
      new cmd heading: 261.116301 deg.

2021-01-28T01:17:05.881Z,1611796625.881 [lineCaptureDepth](INFO): Timed out from 2021-01-28T00:02:05.6Z
2021-01-28T01:17:05.881Z,1611796625.881 [MissionManager](INFO): lineCaptureDepth is completed.
2021-01-28T01:17:05.881Z,1611796625.881 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-01-28T01:17:05.881Z,1611796625.881 [lineCaptureDepth] Stopped
2021-01-28T01:17:05.881Z,1611796625.881 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-01-28T01:17:05.881Z,1611796625.881 [lineCaptureDepth:Science] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:Science:B] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:Science:C] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-01-28T01:17:05.882Z,1611796625.882 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:J.] Stopped
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture] Stopped
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-01-28T01:17:05.883Z,1611796625.883 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:G] Stopped
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:H] Stopped
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-01-28T01:17:05.884Z,1611796625.884 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-01-28T01:17:05.885Z,1611796625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-28T01:17:05.886Z,1611796625.886 [lineCaptureDepth:Lap] Stopped
2021-01-28T01:17:05.886Z,1611796625.886 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-01-28T01:17:05.886Z,1611796625.886 [lineCaptureDepth:Lap:B] Stopped
2021-01-28T01:17:05.886Z,1611796625.886 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-01-28T01:17:05.997Z,1611796625.997 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-01-28T01:17:06.208Z,1611796626.208 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-01-28T01:17:06.208Z,1611796626.208 [DefaultWithUndock] Running Loop=1
2021-01-28T01:17:06.209Z,1611796626.209 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-01-28T01:17:06.209Z,1611796626.209 [DefaultWithUndock:A.Wait] Running Loop=1
2021-01-28T01:17:06.209Z,1611796626.209 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-01-28T01:17:36.508Z,1611796656.508 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-01-28T01:17:36.509Z,1611796656.509 [DefaultWithUndock:A.Wait] Stopped
2021-01-28T01:17:36.509Z,1611796656.509 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-01-28T01:17:36.509Z,1611796656.509 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-01-28T01:17:36.509Z,1611796656.509 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-01-28T01:17:36.509Z,1611796656.509 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-01-28T01:17:36.509Z,1611796656.509 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-01-28T01:17:36.510Z,1611796656.510 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-01-28T01:17:36.510Z,1611796656.510 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-01-28T01:17:36.510Z,1611796656.510 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-01-28T01:17:37.311Z,1611796657.311 [PowerOnly](INFO): Powering up loadControl
2021-01-28T01:17:39.378Z,1611796659.378 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-28T01:17:40.166Z,1611796660.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:17:40.575Z,1611796660.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:17:41.399Z,1611796661.399 [Micromodem](INFO): Nmea in: $SNTTA,0.133268,,,,011741.90*46

2021-01-28T01:17:44.244Z,1611796664.244 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-01-28T01:17:44.247Z,1611796664.247 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-28T01:17:44.657Z,1611796664.657 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-01-28T01:17:45.010Z,1611796665.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:17:45.119Z,1611796665.119 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-01-28T01:17:45.420Z,1611796665.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:17:45.448Z,1611796665.448 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-01-28T01:17:46.247Z,1611796666.247 [Micromodem](INFO): Nmea in: $SNTTA,0.133817,,,,011746.74*49

2021-01-28T01:17:49.076Z,1611796669.076 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-28T01:17:49.858Z,1611796669.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:17:50.272Z,1611796670.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:17:51.088Z,1611796671.088 [Micromodem](INFO): Nmea in: $SNTTA,0.134632,,,,011751.59*4E

2021-01-28T01:17:53.950Z,1611796673.950 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-28T01:17:54.720Z,1611796674.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:17:55.127Z,1611796675.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:17:55.957Z,1611796675.957 [Micromodem](INFO): Nmea in: $SNTTA,0.135241,,,,011756.45*45

2021-01-28T01:17:58.805Z,1611796678.805 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-28T01:17:59.555Z,1611796679.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:17:59.964Z,1611796679.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:18:00.780Z,1611796680.780 [Micromodem](INFO): Nmea in: $SNTTA,0.135757,,,,011801.29*40

2021-01-28T01:18:03.649Z,1611796683.649 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-28T01:18:04.406Z,1611796684.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:18:04.821Z,1611796684.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:18:05.655Z,1611796685.655 [Micromodem](INFO): Nmea in: $SNTTA,0.136290,,,,011806.14*44

2021-01-28T01:18:05.691Z,1611796685.691 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 203.64 m. Transitioning DDM to standby.
2021-01-28T01:18:08.473Z,1611796688.473 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-28T01:18:09.255Z,1611796689.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-28T01:18:09.683Z,1611796689.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-28T01:18:10.476Z,1611796690.476 [Micromodem](INFO): Nmea in: $SNTTA,0.136765,,,,011810.99*49

2021-01-28T01:18:10.946Z,1611796690.946 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-01-28T01:18:11.305Z,1611796691.305 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-01-28T01:18:11.305Z,1611796691.305 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:LeaveDock] Stopped
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-01-28T01:18:11.306Z,1611796691.306 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-01-28T01:18:11.307Z,1611796691.307 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-01-28T01:18:11.307Z,1611796691.307 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-01-28T01:18:11.307Z,1611796691.307 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-01-28T01:18:11.307Z,1611796691.307 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-01-28T01:18:11.307Z,1611796691.307 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-01-28T01:18:11.308Z,1611796691.308 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-01-28T01:18:11.308Z,1611796691.308 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-01-28T01:18:11.308Z,1611796691.308 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-01-28T01:18:12.208Z,1611796692.208 [Radio_Surface](INFO): Powering up
2021-01-28T01:18:18.292Z,1611796698.292 [DataOverHttps](INFO): Radio surface powered ON.
2021-01-28T01:18:48.416Z,1611796728.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-28T01:19:08.662Z,1611796748.662 [PowerOnly](INFO): Powering down loadControl
2021-01-28T01:19:23.565Z,1611796763.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-28T01:19:37.338Z,1611796777.338 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -2.80
2021-01-28T01:19:58.709Z,1611796798.709 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-28T01:20:33.848Z,1611796833.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-28T01:20:50.073Z,1611796850.073 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-01-28T01:20:50.073Z,1611796850.073 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-28T01:20:50.073Z,1611796850.073 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-28T01:20:50.073Z,1611796850.073 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-01-28T01:20:50.073Z,1611796850.073 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-01-28T01:20:50.073Z,1611796850.073 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-01-28T01:20:50.073Z,1611796850.073 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-01-28T01:21:08.996Z,1611796868.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-28T01:21:13.107Z,1611796873.107 [NAL9602](INFO): SBD MO Status=0, MOMSN=13176, MT Status=0, MTMSN=0
2021-01-28T01:21:13.107Z,1611796873.107 [NAL9602](INFO): No messages in MT queue
2021-01-28T01:21:14.284Z,1611796874.284 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,012114.00,A,4133.02178,N,07042.73564,W,0.914,328.47,280121,,,A*7E
2021-01-28T01:21:14.286Z,1611796874.286 [NAL9602](INFO): GPS fix at 20210128T012114: (41.550363, -70.712261)
2021-01-28T01:21:14.325Z,1611796874.325 [UniversalFixResidualReporter](INFO): Fix residual: 7.5 %DT, over the last 520.0 m. Residual distance 39.1 m at bearing 40.4 degrees. Fix at (41.5504, -70.7123) with 285.9 m made good.
2021-01-28T01:21:14.326Z,1611796874.326 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-28T01:21:14.326Z,1611796874.326 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-28T01:21:37.823Z,1611796897.823 [NAL9602](INFO): SBD MO Status=1, MOMSN=13177, MT Status=0, MTMSN=0
2021-01-28T01:21:37.876Z,1611796897.876 [NAL9602](INFO): Sent 99 bytes from file Logs/20210127T223404/Courier0057.lzma
2021-01-28T01:21:37.876Z,1611796897.876 [NAL9602](INFO): Packets left to send: 0
2021-01-28T01:21:39.145Z,1611796899.145 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003886
2021-01-28T01:21:43.163Z,1611796903.163 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T223404/Courier0060.lzma
2021-01-28T01:21:44.166Z,1611796904.166 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0060.lzma.bak
2021-01-28T01:21:44.166Z,1611796904.166 [DataOverHttps](INFO): SBD MOMSN=69862
2021-01-28T01:21:53.221Z,1611796913.221 [DataOverHttps](INFO): Sending 580 bytes from file Logs/20210127T223404/Express0044.lzma
2021-01-28T01:21:54.222Z,1611796914.222 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0044.lzma.bak
2021-01-28T01:21:54.222Z,1611796914.222 [DataOverHttps](INFO): SBD MOMSN=69864
2021-01-28T01:21:55.461Z,1611796915.461 [NAL9602](INFO): SBD MO Status=1, MOMSN=13178, MT Status=0, MTMSN=0
2021-01-28T01:21:55.512Z,1611796915.512 [NAL9602](INFO): Sent 184 bytes from file Logs/20210127T223404/Express0044.lzma
2021-01-28T01:21:55.512Z,1611796915.512 [NAL9602](INFO): Packets left to send: 3
2021-01-28T01:22:03.260Z,1611796923.260 [DataOverHttps](INFO): Sending 298 bytes from file Logs/20210127T223404/Express0049.lzma
2021-01-28T01:22:04.264Z,1611796924.264 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0049.lzma.bak
2021-01-28T01:22:04.264Z,1611796924.264 [DataOverHttps](INFO): SBD MOMSN=69886
2021-01-28T01:22:13.300Z,1611796933.300 [DataOverHttps](INFO): Sending 189 bytes from file Logs/20210127T223404/Express0052.lzma
2021-01-28T01:22:14.302Z,1611796934.302 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0052.lzma.bak
2021-01-28T01:22:14.302Z,1611796934.302 [DataOverHttps](INFO): SBD MOMSN=69895
2021-01-28T01:22:23.340Z,1611796943.340 [DataOverHttps](INFO): Sending 150 bytes from file Logs/20210127T223404/Express0055.lzma
2021-01-28T01:22:24.342Z,1611796944.342 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0055.lzma.bak
2021-01-28T01:22:24.342Z,1611796944.342 [DataOverHttps](INFO): SBD MOMSN=69898
2021-01-28T01:22:26.134Z,1611796946.134 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-28T01:22:33.380Z,1611796953.380 [DataOverHttps](INFO): Sending 185 bytes from file Logs/20210127T223404/Express0058.lzma
2021-01-28T01:22:34.382Z,1611796954.382 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0058.lzma.bak
2021-01-28T01:22:34.382Z,1611796954.382 [DataOverHttps](INFO): SBD MOMSN=69900
2021-01-28T01:22:43.419Z,1611796963.419 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210127T223404/Express0061.lzma
2021-01-28T01:22:44.422Z,1611796964.422 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0061.lzma.bak
2021-01-28T01:22:44.422Z,1611796964.422 [DataOverHttps](INFO): SBD MOMSN=69904
2021-01-28T01:22:45.961Z,1611796965.961 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-28T01:22:45.962Z,1611796965.962 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-28T01:22:45.962Z,1611796965.962 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-28T01:24:33.007Z,1611797073.007 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T01:24:37.888Z,1611797077.888 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-28T01:25:02.993Z,1611797102.993 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-28T01:26:09.556Z,1611797169.556 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-01-28T01:26:09.559Z,1611797169.559 [BPC1](INFO): Received data from all battery sticks.
2021-01-28T01:26:37.890Z,1611797197.890 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-28T01:27:46.539Z,1611797266.539 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-01-28T01:27:46.539Z,1611797266.539 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-01-28T01:27:46.539Z,1611797266.539 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-01-28T01:27:46.539Z,1611797266.539 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-01-28T01:27:46.981Z,1611797266.981 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-01-28T01:27:46.981Z,1611797266.981 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-01-28T01:27:47.337Z,1611797267.337 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.679538 min 
2021-01-28T01:27:47.337Z,1611797267.337 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-01-28T01:27:47.337Z,1611797267.337 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-28T01:27:47.337Z,1611797267.337 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-01-28T01:27:47.337Z,1611797267.337 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-28T01:27:47.338Z,1611797267.338 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-01-28T01:27:47.338Z,1611797267.338 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-01-28T01:27:47.338Z,1611797267.338 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-28T01:27:47.338Z,1611797267.338 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-28T01:27:49.356Z,1611797269.356 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,012749.00,A,4132.95379,N,07042.76325,W,0.758,151.15,280121,,,A*77
2021-01-28T01:27:49.358Z,1611797269.358 [NAL9602](INFO): GPS fix at 20210128T012749: (41.549230, -70.712721)
2021-01-28T01:27:49.369Z,1611797269.369 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-28T01:27:49.369Z,1611797269.369 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-28T01:27:53.738Z,1611797273.738 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20210127T223404/Courier0063.lzma
2021-01-28T01:27:54.737Z,1611797274.737 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Courier0063.lzma.bak
2021-01-28T01:27:54.738Z,1611797274.738 [DataOverHttps](INFO): SBD MOMSN=69906
2021-01-28T01:28:03.093Z,1611797283.093 [NAL9602](INFO): SBD MO Status=0, MOMSN=13179, MT Status=0, MTMSN=0
2021-01-28T01:28:03.094Z,1611797283.094 [NAL9602](INFO): No messages in MT queue
2021-01-28T01:28:03.772Z,1611797283.772 [DataOverHttps](INFO): Sending 124 bytes from file Logs/20210127T223404/Express0064.lzma
2021-01-28T01:28:04.774Z,1611797284.774 [DataOverHttps](INFO): Moved sent file to Logs/20210127T223404/Express0064.lzma.bak
2021-01-28T01:28:04.774Z,1611797284.774 [DataOverHttps](INFO): SBD MOMSN=69909
2021-01-28T01:28:05.976Z,1611797285.976 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-28T01:28:05.976Z,1611797285.976 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-28T01:28:05.976Z,1611797285.976 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-28T01:28:33.795Z,1611797313.795 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-28T01:29:56.237Z,1611797396.237 [DataOverHttps](IMPORTANT): SBD MTMSN=20210128T012956
2021-01-28T01:30:00.256Z,1611797400.256 [DataOverHttps](INFO): Received command:configSet LineCapture.navigationGain 3 none persist
2021-01-28T01:30:00.465Z,1611797400.465 [CommandLine](IMPORTANT): got command configSet LineCapture.navigationGain 3.000000 none persist
2021-01-28T01:31:11.562Z,1611797471.562 [DataOverHttps](IMPORTANT): SBD MTMSN=20210128T013111
2021-01-28T01:31:15.581Z,1611797475.581 [DataOverHttps](INFO): Received command:restart logs